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• W567116868 abstract "The wheeled vehicles normally are nonholonomic systems the position of which cannot be described by the use of generalized coordinates. Instead of that the first time derivatives of the local axles (coordinates) can be mapped to that of some measures of global frame of reference. For the majority of such systems the position and pose cannot arbitrarily be determined. For tracking a path of considerable velocity a good kinematic solution may be the application of Optimal Control (OC) under constraints in which a compromise can be found in meeting various requirements in contradiction. The constraints i.e. the properties of the kinematic map must be taken strictly because they guarantee the physical interpretability of the computational results. In the present paper a mixed goal function containing compromises is optimized under rigorous constraints using the Reduced Gradient Method (RGM) for tracking control of a bicycle of considerable velocity. Simulation calculations show the applicability of this concept we wish to use mainly for educational purposes." @default.
• W567116868 created "2016-06-24" @default.
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• W567116868 date "2008-01-01" @default.
• W567116868 modified "2023-09-26" @default.
• W567116868 title "Model-based optimal control for resolving loose and strict constraints in anholonom devices" @default.
• W567116868 hasPublicationYear "2008" @default.
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