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Control system of nonholonomic uniaxial wheeled module for monitoring geometry parameters of airfield pavements

  • Control Systems of Moving Objects
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Abstract

We develop a control system of a nonholonomic measuring uniaxial wheeled module designed for monitoring the geometrical parameters of airfield pavements. Using a nonlinear approach, we synthesize a trajectory control subsystem based on a kinematic model of a nonholonomic unicycle locomotion control subsystem using the partial feedback linearization approach. We present the results of the numerical simulation of the synthesized control system with disturbances.

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References

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Authors and Affiliations

  1. Moscow Aviation Institute (National Research University), Volokolamskoe shosse 4, Moscow, 125993, Russia

    V. N. Maksimov & A. I. Chernomorskii

Authors
  1. V. N. Maksimov
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  2. A. I. Chernomorskii
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Correspondence to V. N. Maksimov.

Additional information

Original Russian Text © V.N. Maksimov, A.I. Chernomorskii, 2015, published in Izvestiya Akademii Nauk. Teoriya i Sistemy Upravleniya, 2015, No. 3, pp. 156–167.

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Maksimov, V.N., Chernomorskii, A.I. Control system of nonholonomic uniaxial wheeled module for monitoring geometry parameters of airfield pavements. J. Comput. Syst. Sci. Int. 54, 483–494 (2015). https://doi.org/10.1134/S1064230715030132

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  • DOI: https://doi.org/10.1134/S1064230715030132

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