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Single-Input Planar Navigation via Proportional Heading Control Exploiting Nonholonomic Mechanics or Vortex Shedding

[+] Author Affiliations
Michael J. Fairchild, Peter M. Hassing, Scott David Kelly, Parthesh Pujari, Phanindra Tallapragada

University of North Carolina at Charlotte, Charlotte, NC

Paper No. DSCC2011-6191, pp. 345-352; 8 pages
doi:10.1115/DSCC2011-6191
From:
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5475-4
  • Copyright © 2011 by ASME

abstract

We present a strategy for coupled steering and motion generation applicable to a class of single-input planar robotic vehicles. We demonstrate this strategy through simulations of two different vehicles under closed-loop control, the first a novel variation of the Chaplygin sleigh and the second a fishlike swimmer in an ideal fluid. The dynamics of the former are influenced by a nonholonomic constraint and the dynamics of the latter by a hydrodynamic force associated with vortex shedding. The juxta-position of these two systems highlights a link between nonholonomic mechanics and hydrodynamics explored in a prior paper.

Copyright © 2011 by ASME

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