Abstract:
In this paper we design a steering control algorithm for the Chaplygin sleigh with a moving mass. Our strategy is to only use the controlled dynamics to initiate short-ti...Show MoreMetadata
Abstract:
In this paper we design a steering control algorithm for the Chaplygin sleigh with a moving mass. Our strategy is to only use the controlled dynamics to initiate short-time transitions between the various uncontrolled modes of the system in order to achieve the desired direction of motion.
Date of Conference: 15-15 December 2005
Date Added to IEEE Xplore: 30 January 2006
Print ISBN:0-7803-9567-0
Print ISSN: 0191-2216
Contents 