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Studies Of Systems With Nonholonomic Constraints: The Segway And The Chaplygin Sleigh, Joseph Troy Lee Tuttle

Open Access Theses

In this thesis, two systems with nonholonomic systems are investigated: the Segway and the Chaplygin sleigh. Using Lagrangian mechanics, the constrained nonlinear equations of motion for both systems are derived. By use of the nullspace of the constraint matrices, the unconstrained equations of motion can be obtained. For the Segway, these equations are linearized about a zero equilibrium state, placed into state space form and decoupled. A feedback controller is designed about the velocity and heading angle rate reference commands. To compare to the real data from the built Segway, measurement noise was also included in the model. Experimental data …