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Abstrakty
In the presented paper, the problem of controlling a one-wheel vehicle is investigated. In connection with this problem, a hybrid method of both passive and active methods is applied. By means of the motion of an elliptic pendulum (passive controls) and the couple of forces of a servomotor (active controls) the unbalanced motion of the vehicle is controlled. The stated problem is solved by the theory of optimization of Hamilton and the method of constructing program constraints. A numerical algorithm is introduced, which is generalized for optimal problems of mechanical systems in the sense of stabilization.
Czasopismo
Rocznik
Tom
Strony
46--56
Opis fizyczny
Bibliogr. 7 poz., wykr
Twórcy
Bibliografia
- Do Sanh, 1984, On the motion of controlled mechanical systems, Advances in Mechanics, Tom 7, 2, Warsaw, 3-24.
- Do Sanh, Dinh Van Phong, Do Dang Khoa, 2004, Problem of Optimal of Program Motion of Mechanical System, 8th International Conference of Mechatronics Technology, Hanoi, Vietnam.
- Do Sanh, Dinh Van Phong, Do Dang Khoa, 2005, Realization of Program Motion in Asymptotical Sense, 5th Asian Symposium on Applied Electromagnetics and Mechanics, Science and Technology Publishing House, Hanoi.
- Do Sanh,Do Dang Khoa, 2007, Applying Principle of Compatibility for Determining Reaction Forces of Constraints, Machine Dynamics Problems, 31, No 1, 72-81.
- Do Sanh, Dinh Van Phong, Do Dang Khoa, Tran Due, 2008, Control of program motion of dynamics systems using relative motions, Technische Mechanik (in printing).
- Pontriagin, L.S., et al., 1962, The Mathematical Theory of Optimal Process, tans, by K.N. Trigoff, Inter Science Publishers, New York.
- Vincent, T.L., Grantham, W.J., 1997, Nonlinear and Optimal Control, John Willey & Sons, New York.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-article-BWA0-0038-0019