Modeling and control of the rodwheel
Fuente:
arXiv
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| Main Author: | |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
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| _version_ | 1866913198587772928 |
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| author | Jaulin, Luc |
| author_facet | Jaulin, Luc |
| contents | The rodwheel is a wheel equipped with a rod motorized on the axle. This paper proposes a Lagrangian approach to find the state equations of the rodwheel rolling on a plane without friction. The approach takes advantage of a symbolic computation. A controller is proposed to stabilize the rodwheel with the rod upward and going straight at a desired speed. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2401_08666 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Modeling and control of the rodwheel Jaulin, Luc Numerical Analysis The rodwheel is a wheel equipped with a rod motorized on the axle. This paper proposes a Lagrangian approach to find the state equations of the rodwheel rolling on a plane without friction. The approach takes advantage of a symbolic computation. A controller is proposed to stabilize the rodwheel with the rod upward and going straight at a desired speed. |
| title | Modeling and control of the rodwheel |
| topic | Numerical Analysis |
| url | https://arxiv.org/abs/2401.08666 |