Abstract
This work deals with the guidance and control of a system which is composed of a rolling cylinder, and a controlled slender rod that is pivoted through its center of mass, about the cylinder's center. At some instant the rod has to establish contact with a smooth rigid ceiling. This instant constitutes a discontinuity in the system's dynamics. The cylinder-rod system is subjected to state and control constraints, and it serves as a model for the motion of a simple mobile robot. Open-loop strategies are computed for the cylinder-rod system. In addition, the concept of path controllability is introduced for this system, and a condition is derived for the system's motion path controllability. The derivation of this condition enables one to design closed-loop control laws for the system's motion.
Sign-in/Register to access full text options 
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 callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
