由内部质点驱动的滚动球机器人的数值模拟
最优化与控制
2021-03-02 v3 动力系统
摘要
本文考虑由沿球内任意形状轨道运动的内部质点所驱动的滚动球的受控运动。受控运动方程通过预测-校正延拓法数值求解，初始解由直接法获得，以实现轨迹跟踪与避障机动。
引用
@article{arxiv.1904.13027,
title = {Numerical Simulations of a Rolling Ball Robot Actuated by Internal Point Masses},
author = {Vakhtang Putkaradze and Stuart Rogers},
journal= {arXiv preprint arXiv:1904.13027},
year = {2021}
}
备注
51 pages, 59 figures, 13 tables, 2 algorithms. arXiv admin note: substantial text overlap with arXiv:1708.03829