5.0

5.0 | 1 rating Rate this file 15 Downloads (last 30 days) File Size: 3.74 KB File ID: #36252
image thumbnail

Iterative Feedback Control of Plate-Ball Orientation and Position

by

 

Feedback control of a plate-ball system (controls a sphere by rolling without slipping in the plane)

| Watch this File

File Information
Description

This MATLAB function applies the algorithm in 'A Framework for the Stabilization of General Nonholonomic Systems With an Application to the Plate-Ball Mechanism' by Giuseppe Oriolo and Marilena Vendittelli in IEEE TRANSACTIONS ON ROBOTICS, VOL. 21, NO. 2, APRIL 2005

 It steers a sphere with a possibly unknown radius that rolls without slipping on the plane to a desired position and orientation by using iterative feedback control.

inputs:
State = [u,v,phi,x,y], (u,v) = (lat, log) contact point, phi = angle between the x-xis and the plane of the meridian through the contact point. u is limited to +/-pi/2 and v is limited to +/-pi

The actual sphere radius is rhoA, while the assumed radius is rho.

Required Products MATLAB
MATLAB release MATLAB 7.11 (R2010b)
Tags for This File   Please login to tag files.
Please login to add a comment or rating.
Comments and Ratings (1)
11 Nov 2012 mash  

Contact us