Please use this identifier to cite or link to this item: http://dx.doi.org/10.18419/opus-4502
Authors: Schiehlen, Werner
Eismann, Wolfgang
Title: Reduction of nonholonomic systems
Issue Date: 1994
metadata.ubs.publikation.typ: Buchbeitrag
metadata.ubs.publikation.source: Kounadis, Anthony (Hrsg.): Collection of papers dedicated to Professor P. S. Theocaris. Athens : National Technical University of Athens, 1994, S. 207-220
URI: http://nbn-resolving.de/urn:nbn:de:bsz:93-opus-77750
http://elib.uni-stuttgart.de/handle/11682/4519
http://dx.doi.org/10.18419/opus-4502
Abstract: The positional degrees of freedom of a mechanical system are by nonholonomic constraints further reduced to a smaller number of motional degrees of freedom. It is shown how the corresponding equations of motion can be reduced to a minimal number using generalized coordinates and generalized velocities. The theoretical results are applied to an actively controlled vehicle with stiff tires. One scalar control variable provides full contollability of the position of the vehicle moving on a plane surface. The control strategy is found for stationary and instationary motions.
Appears in Collections:07 Fakultät Konstruktions-, Produktions- und Fahrzeugtechnik

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