Abstract

This paper considers nonholonomic system modelling and control of a single degree of freedom. The model is based on a linear ordinary differential equation using the principles of vibrations in the area of feedback control system which is applied in many industrial applications. In this field, actual motion deviate significantly from the desired motion, and as a result of this deviation, performance, precision and accuracy of the system may not be acceptable. The problem is solved using the principles of PID and Routh-Hurwitz criterion of stability. At end the system was stable and the actual motion is the same as desired motion. The system was controllable and observable. Keywords: Nonholonomic system, PID, Routh-Hurwitz stability criterion, Controllability, Observability DOI: 10.7176/CTI/10-04 Publication date: July 31 st 2020

Highlights

  • In applications of theories in solving of problems of motion and equilibrium of mechanical systems, one may make use of the constraints to unearth a hidden fact about the systems under the discussion

  • This paper considers nonholonomic system modelling and control of a single degree of freedom

  • Holonomic system are systems in which all constraints are integrable into positional constraints of the form f (q1, q2,..., qn, t) 0 qi n and t is time

Read more

Summary

Introduction

In applications of theories in solving of problems of motion and equilibrium of mechanical systems, one may make use of the constraints to unearth a hidden fact about the systems under the discussion. One in which the mechanical state of a given system is defined by a finite number of parameters that can completely describe the position of the system at any given time In this description certain conditions arises which are handicap of the system. Holonomic system are systems in which all constraints are integrable into positional constraints of the form f (q1, q2 ,..., qn , t) 0 qi n and t is time In such a system, it can be used to reduce the number of degrees of freedom in the system. In case of the nonholonomic systems, it cannot be used to reduce the number of degrees of freedom in the system and can be defined as systems which have constraints that are nonintegrable into positional constraints. In all the equations from 6 to 8, c1 and c2 are constants

Controllability and Observability of Systems
Data Analysis
Conclusion
Full Text
Published version (Free)

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call