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Control of a Wheeled Transport Robot with Two Steerable Wheels

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The control of a system with one actuator failed is studied. The problem of control of a wheeled transport robot with two steerable wheels of which the rear one is stuck (its drive has failed) is solved. An algorithm for controlling the system in this situation is proposed. The effectiveness of the algorithm is demonstrated by way of an example.

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Authors and Affiliations

  1. S. P. Timoshenko Institute of Mechanics, National Academy of Sciences of Ukraine, 3 Nesterova St., Kyiv, 03057, Ukraine

    V. B. Larin

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  1. V. B. Larin
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Correspondence to V. B. Larin.

Additional information

Translated from Prikladnaya Mekhanika, Vol. 53, No. 5, pp. 140–144, September–October, 2017.

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Larin, V.B. Control of a Wheeled Transport Robot with Two Steerable Wheels. Int Appl Mech 53, 603–607 (2017). https://doi.org/10.1007/s10778-017-0842-2

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  • DOI: https://doi.org/10.1007/s10778-017-0842-2

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