Nonholonomic System Modelling and Control with Single Degree of Freedom

Abstract

This paper considers nonholonomic system modelling and control of a single degree of freedom. The model is based on a linear ordinary differential equation using the principles of vibrations in the area of feedback control system which is applied in many industrial applications. In this field, actual motion deviate significantly from the desired motion, and as a result of this deviation, performance, precision and accuracy of the system may not be acceptable. The problem is solved using the principles of PID and Routh-Hurwitz criterion of stability. At end the system was stable and the actual motion is the same as desired motion. The system was controllable and observable.

Keywords: Nonholonomic system, PID, Routh-Hurwitz stability criterion, Controllability, Observability

DOI: 10.7176/CTI/10-04

Publication date:July 31^st 2020