2.
Kilin A. A., Ivanova T. B., Yefremov K. S.
Controlled Motion of a Wheeled Three-Link Vehicle: Theory and Experiment
Rus. J. Nonlin. Dyn.,
2026
Abstract
pdf (1.38 Mb)
In this paper we examine the controlled motion of a three-link wheeled mobile robot on
a horizontal plane. The motion of the system is induced by periodic oscillations of the outermost
links relative to the central link in the horizontal plane. The dynamics of the robot is analyzed
using two theoretical models. The first is a model of nonholonomic rolling which assumes motion
without slipping at the points of contact. The second is a hybrid dynamical model which takes
into account the possibility of alternation between nonholonomic rolling and motion with slipping
along the axis of a wheel pair. An experimental investigation of the dynamics of the developed
prototype with different controls is carried out. A comparative analysis is made of the data
obtained in the course of a full-scale experiment and the results of numerical simulation based on
both models considered. This comparative analysis is used to identify the limits of applicability of
the nonholonomic model. It is shown that within these limits the nonholonomic model describes
the real motion with good accuracy.
| Keywords: |
nonholonomic constraint, wheeled vehicle, periodic control, constraint reaction force |
| Citation: |
Kilin A. A., Ivanova T. B., Yefremov K. S., Controlled Motion of a Wheeled Three-Link Vehicle: Theory and Experiment, Rus. J. Nonlin. Dyn., 2026, https://doi.org/10.20537/nd260101
|
| DOI: |
10.20537/nd260101 |
| Full text: |
pdf (1.38 Mb)
|
