Non-holonomic Constraint

2008 ◽  
pp. 2886-2886 ◽  
Keyword(s):  
2013 ◽  
Vol 303-306 ◽  
pp. 1678-1684
Author(s):  
Xian Chun Meng ◽  
Kai Li ◽  
Dong Mei Zhang ◽  
Jian Hu Zuo ◽  
Yan Jun Li

The dynamics equation of mobile welding robot is established. In controller design of the mobile welding robot, the non-holonomic constraint is introduced that limits the size of the transverse sliding and avoid the coordinates of the instantaneous center of rotation is larger than the wheelbase, to ensure the robot’s stability. Based on kinematics oscillator, the effect of uncertain dynamic parameters is considered. According to the Lyapunov stability criterion, the control algorithm is deduced. Simulating results by MATLAB software shows that the design of the control algorithm is stable, convergent and effective.


1960 ◽  
Vol 38 (10) ◽  
pp. 1356-1365 ◽  
Author(s):  
J. S. Kirkaldy

The variational principle[Formula: see text]involving the independent thermodynamic fluxes Ji and forces Xi and subject to the non-holonomic constraint, Xi = constant, gives an expression for the integral behavior of an unconstrained heterogeneous conduction–diffusion–reaction–viscous flow process. The validity of this expression can be checked by performing the variation with respect to the forces to obtain as Euler–Lagrange equations the phenomenological equations,[Formula: see text]This principle allows the unique mathematical specification of certain non-stationary systems which are not easily amenable to differential analysis.As an example, it is demonstrated that the principle generates an approximate expression for the steady growth velocity, v, of an isothermal segregation reaction in terms of the degree of advancement of the reaction, [Formula: see text], and its derivative with respect to v,[Formula: see text]


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