Open AccessStabilization of mechanical systems with nonholonomic servoconstraints
Author(s) -
K. Khusanov
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/883/1/012164
Subject(s) - nonholonomic system , controllability , control theory (sociology) , gyroscope , tangent , work (physics) , mechanical system , computer science , mathematics , classical mechanics , engineering , physics , control (management) , robot , mechanical engineering , artificial intelligence , geometry , mobile robot , aerospace engineering
The proposed work is devoted to the study of mechanical systems with releasing nonholonomic servoconstraints on controllability and stabilization. In this case, the reaction forces of the servoconstraints are decomposed into the normal and tangent components. The factors of tangent components are taken as control parameters. A technique is proposed for determining the reaction forces of servoconstraints providing stabilization of motion relative to the variety determined by nonholonomic servoconstraints. As an example, the problem of a gyroscope in a cardan suspension with nonholonomic releasing servoconstraints is considered.