Title :
Control of a Coin on a Rotating Table based on Its Equilibria Set
Author_Institution :
Dept. of Mech. Eng., Osaka Univ.
Abstract :
In this paper, we propose new control algorithms for a coin on a rotating table, which we cannot easily control. We first derive the nonholonomic kinematic system with affine constraints (NKSAC) for a coin on a rotating table and show nonlinear control properties of the system. Then, control algorithms which transfer the NKSAC to any equilibrium/nonequilibrium are introduced. Finally, we show simulation results to confirm the effectiveness of our control algorithms
Keywords :
kinematics; nonlinear control systems; affine constraint; nonholonomic kinematic system; nonlinear control system; Control systems; Control theory; Kinematics; Linear approximation; Mechanical engineering; Mobile robots; Nonlinear control systems; Orbital robotics; Space vehicles; Vehicle dynamics; affine constraints; control to equilibria / nonequilibria; kinematics; nonholonomic systems;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.314988
