Extraction of motion for 4-wheel drive, 4-wheel steer mobile robot with reduced order Hamiltonian model

M. Kürşat Yalçin*, S. Murat Yeşiloǧlu, Hakan Temeltaş

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this study, spatial algebra approach is applied to energy based model reduction for the class of nonholonomic systems. Having defined the nonholonomic constraints by means of spatial velocities, we introduce the Lagrangian model. Then, this model is transformed into Hamiltonian formulation using Legendre transformation. Momentum terms in Hamiltonian formulation is divided into two parts one of which is due to workless spatial forces in the system and, therefore, can be eliminated to reduce the order of the model. This formulation was developed successfully here for four-wheel drive & four-wheel steer mobile robot.

Original languageEnglish
Title of host publicationFinal Program and Book of Abstracts - NOLCOS 2007
Subtitle of host publication7th IFAC Symposium on Nonlinear Control Systems
PublisherIFAC Secretariat
Pages934-939
Number of pages6
EditionPART 1
ISBN (Print)9783902661289
DOIs
Publication statusPublished - 2007

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
Volume7
ISSN (Print)1474-6670

Keywords

  • Nonholonomic systems
  • Reduced order hamiltonian systems

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