Eylem Seç
Global Formulation and Control of a Class of Nonholonomic Systems
Başlık:
Global Formulation and Control of a Class of Nonholonomic Systems
Yazar:
Rehan, Muhammad, author.
ISBN:
9780438082083
Yazar Ek Girişi:
Fiziksel Tanımlama:
1 electronic resource (93 pages)
Genel Not:
Source: Dissertation Abstracts International, Volume: 79-11(E), Section: B.
Advisors: Mahmut Reyhanoglu Committee members: Yechiel Crispin; John Hughes; William MacKunis.
Özet:
This thesis study motion of a class of non-holonomic systems using geometric mechanics, that provide us an efficient way to formulate and analyze the dynamics and their temporal evolution on the configuration manifold. The kinematics equations of the system, viewed as a rigid body, are constrained by the requirement that the system maintain contact with the surface. They describe the constrained translation of the point of contact on the surface. In this thesis, we have considered three different examples with nonholonomic constraint i-e knife edge of pizza cutter, a circular disk rolling without slipping, and rolling sphere. For each example, the kinematics equations of the system are defined without the use of local coordinates, such that the model is globally defined on the manifold without singularities or ambiguities. Simulation results are included that show effectiveness of the proposed control laws.
Notlar:
School code: 1076
Tüzel Kişi Ek Girişi:
Mevcut:*
Yer Numarası | Demirbaş Numarası | Shelf Location | Lokasyon / Statüsü / İade Tarihi |
---|---|---|---|
XX(694103.1) | 694103-1001 | Proquest E-Tez Koleksiyonu | Arıyor... |
On Order
Liste seç
Bunu varsayılan liste yap.
Öğeler başarıyla eklendi
Öğeler eklenirken hata oldu. Lütfen tekrar deneyiniz.
:
Select An Item
Data usage warning: You will receive one text message for each title you selected.
Standard text messaging rates apply.