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INVESTIGATION OF LOCAL CONTROLLABILITY OF NONHOLONOMIC CONTROL SYSTEM DESCRIBING THE SNAKEBOARD MOTION

Annotation

The constructive test problem of local controllability of nonholonomic system describing the snakeboard motion by using sampled control function is considered.

Keywords

sampled control function; return method; nonholonomic system; snakeboard; controllability

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UDC

517.977.1

Pages

1018-1020

References

1. Laumond J.P. Robot Motion Planning and Control // Lecture Notes in Control and Information Sciences. 1998. № 229. P. 343. 2. Coron J.-M. Return method: some applications to flow control // Mathematical control theory. Trieste: The Abdus Salam ICTP. 2002. P. 655–704. 3. Zuev A.L., Chumachenko T.N. Issledovanie lokal'noy upravlyaemosti nelineynykh sistem metodom vozvrata // Mekhanika tverdogo tela. 2008. Vyp. 38. S. 136-144. 4. Kuleshov A.S. Matematicheskaya model' sneykborda // Matematicheskoe modelirovanie. 2006. T. 18. № 5. S. 37-48.

Received

2015-06-11

Section of issue

Scientific articles

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