Date of Award
May 2020
Document Type
Dissertation
Degree Name
Doctor of Philosophy (PhD)
Department
Mechanical Engineering
Committee Member
Phanindra Tallapragada
Committee Member
Suyi Li
Committee Member
Ardalan Vahidi
Committee Member
Martin Schmoll
Abstract
Nonholonomic systems model many robots as well as animals and other systems. Although such systems have been studied extensively over the last century, much work still remains to be done on their dynamics and control. Many techniques have been developed for controlling kinematic nonholonomic systems or simplified dynamic versions, however control of high dimensional, underactuated nonholonomic systems remains to be addressed. This dissertation helps fill this gap by developing a control algorithm that can be applied to systems with three or more configuration variables and just one input. We also analyze the dynamic effects of passive degrees of freedom and elastic potentials which are commonly observed in such systems showing that the addition of a passive degree of freedom can even be used to improve the locomotion characteristics of a system. Such elastic potentials can be present due to compliant mechanisms or origami, both of which can exhibit bistability and many other properties that can be useful in the design of robots.
Recommended Citation
Fedonyuk, Vitaliy, "Dynamics and Control of Nonholonomic Systems with Internal Degrees of Freedom" (2020). All Dissertations. 2645.
https://tigerprints.clemson.edu/all_dissertations/2645