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Дата последнего поиска статьи во внешних источниках: 13 января 2015 г.
Аннотация:The motion of an omni-mobile vehicle on a horizontal plane is considered. The wheels are modelled by absolutely rigid discs. Slippage in a certain direction, which makes a constant non- zero angle with the plane of a disc, is possible at the contact point of a wheel and the plane, and the planes of the discs are fixed with respect to the platform of the vehicle. The dynamic equations of motion are obtained for vehicles of this type with an arbitrary number and arrangement of the wheels. A complete qualitative description of the inertial motion of a vehicle is given (there are no control actions and it is assumed that there is no friction in the axes). The result is presented in the form of a phase portrait of the system. The motion of a vehicle is then considered in the case when control moments are applied to the axes of the wheels. The stability and branching of a certain class of steady motions of the vehicle are investigated. The domain of parameters is separated out where Andronov-Hopf bifurcation occurs with the formation of unstable limit cycles.