Iterative Feedback Control of Plate-Ball Orientation and Position 1.0

Date Added: May 26, 2013 | Visits: 662

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Feedback control of a plate-ball system (controls a sphere by rolling without slipping in the plane)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 +/-piThe actual sphere radius is rhoA, while the assumed radius is rho.

Requirements: No special requirements

Platforms: Matlab

Keyword: Actual, Angle, Contact, Feedback, Inputs, Iterative, Point, State, Uvphixy

Users rating: 0/10

License: Shareware

Size: 10 KB

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