TAILIEUCHUNG - MODELING AND CONTROL OF NONHOLONOMIC MECHANICAL SYSTEMS

One of the outstanding challenges for the European economy is sustainable production. Substantial developments are required in order to reduce Green House Gas (GHG) emissions. Although ME is not an energy intensive sector, it plays a major role in attaining political objectives. 29 Its engineering solutions are indispensable for a cleaner, healthier, safer and sustainable world. ME renders new energy sources accessible, enhances the cleanliness of existing forms of power generation and increases the efficiency of current and emerging technologies. A recent study has disclosed that among the measures designed to reduce waste generation, limit energy consumption and save both natural. | Chapter 7 MODELING AND CONTROL OF NONHOLONOMIC MECHANICAL SYSTEMS Alessandro De Luca and Giuseppe Oriolo Dipartimento di Informatica e Sistemistica Universita degli Studi di Roma La Sapienza Via Eudossiana 18 00184 Roma ITALY deluca oriolo @ Abstract The goal of this chapter is to provide tools for analyzing and controlling nonholonomic mechanical systems. This classical subject has received renewed attention because nonholonomic constraints arise in many advanced robotic structures such as mobile robots space manipulators and multifingered robot hands. Nonholonomic behavior in robotic systems is particularly interesting because it implies that the mechanism can be completely controlled with a reduced number of actuators. On the other hand both planning and control are much more difficult than in conventional holonomic systems and require special techniques. We show first that the nonholonomy of kinematic constraints in mechanical systems is equivalent to the controllability of an associated control system so that integrability conditions may be sought by exploiting concepts from nonlinear control theory. Basic tools for the analysis and stabilization of nonlinear control systems are reviewed and used to obtain conditions for partial or complete non-holonomy so as to devise a classification of nonholonomic systems. Several kinematic models of nonholonomic systems are presented including examples of wheeled mobile robots free-floating space structures and redundant manipulators. We introduce then the dynamics of nonholonomic systems and a procedure for partial linearization of the corresponding control system via feedback. These points are illustrated by deriving the dynamical models of two previously considered systems. Finally we discuss some general issues of the control problem for nonholonomic systems and present open-loop and feedback control techniques illustrated also by numerical simulations. Introduction Consider a mechanical system .

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