Geometrické řízení neholonomních systémů
| but.committee | doc. Ing. Luděk Nechvátal, Ph.D. (předseda) prof. RNDr. Josef Šlapal, CSc. (místopředseda) doc. RNDr. Jiří Tomáš, Dr. (člen) doc. Ing. Jiří Šremr, Ph.D. (člen) prof. RNDr. Miloslav Druckmüller, CSc. (člen) prof. Bruno Rubino (člen) prof. Giuli Massimiliano (člen) prof. Lattanzio Corrado (člen) | cs |
| but.defence | The student introduced his diploma thesis to the committee members and explained the fundamentals of his topic called Geometric control of nonholonomic systems. The supervisor read the review and the opponent read the review, too. The student answered the opponent's questions well. | cs |
| but.jazyk | angličtina (English) | |
| but.program | Applied and Interdisciplinary Mathematics | cs |
| but.result | práce byla úspěšně obhájena | cs |
| dc.contributor.advisor | Návrat, Aleš | en |
| dc.contributor.author | Ramasubramaniyan, Sri Ram Prasath | en |
| dc.contributor.referee | Vašík, Petr | en |
| dc.date.created | 2023 | cs |
| dc.description.abstract | This thesis focuses on a mathematical model for a three-body space robot with the objective of reconfiguring its structure using only internal joint torques. The aim is to minimize fuel consumption and achieve efficient reconfiguration without relying on external actuators. The system exhibits one holonomic and non-holonomic constraint, making the analysis and control design challenging. To address the complexity of the non-holonomic system, the local behavior is studied through the nilpotent approximation. The thesis emphasizes understanding the nilpotent approximation and constructing the nilpotent system of the space robot using algebraic coordinates, along with transforming them into exponential coordinates within the Maple environment. | en |
| dc.description.abstract | This thesis focuses on a mathematical model for a three-body space robot with the objective of reconfiguring its structure using only internal joint torques. The aim is to minimize fuel consumption and achieve efficient reconfiguration without relying on external actuators. The system exhibits one holonomic and non-holonomic constraint, making the analysis and control design challenging. To address the complexity of the non-holonomic system, the local behavior is studied through the nilpotent approximation. The thesis emphasizes understanding the nilpotent approximation and constructing the nilpotent system of the space robot using algebraic coordinates, along with transforming them into exponential coordinates within the Maple environment. | cs |
| dc.description.mark | B | cs |
| dc.identifier.citation | RAMASUBRAMANIYAN, S. Geometrické řízení neholonomních systémů [online]. Brno: Vysoké učení technické v Brně. Fakulta strojního inženýrství. 2023. | cs |
| dc.identifier.other | 150035 | cs |
| dc.identifier.uri | http://hdl.handle.net/11012/212424 | |
| dc.language.iso | en | cs |
| dc.publisher | Vysoké učení technické v Brně. Fakulta strojního inženýrství | cs |
| dc.rights | Standardní licenční smlouva - přístup k plnému textu bez omezení | cs |
| dc.subject | Three-body Space Robot | en |
| dc.subject | Non-Holonomic System | en |
| dc.subject | Nilpotent System | en |
| dc.subject | Nilpotent Approximation | en |
| dc.subject | Algebraic Coordinates | en |
| dc.subject | Exponential Coordinates. | en |
| dc.subject | Three-body Space Robot | cs |
| dc.subject | Non-Holonomic System | cs |
| dc.subject | Nilpotent System | cs |
| dc.subject | Nilpotent Approximation | cs |
| dc.subject | Algebraic Coordinates | cs |
| dc.subject | Exponential Coordinates. | cs |
| dc.title | Geometrické řízení neholonomních systémů | en |
| dc.title.alternative | Geometric control of nonholonomic systems | cs |
| dc.type | Text | cs |
| dc.type.driver | masterThesis | en |
| dc.type.evskp | diplomová práce | cs |
| dcterms.dateAccepted | 2023-06-14 | cs |
| dcterms.modified | 2023-06-16-09:16:18 | cs |
| eprints.affiliatedInstitution.faculty | Fakulta strojního inženýrství | cs |
| sync.item.dbid | 150035 | en |
| sync.item.dbtype | ZP | en |
| sync.item.insts | 2025.03.27 10:43:21 | en |
| sync.item.modts | 2025.01.17 13:36:13 | en |
| thesis.discipline | bez specializace | cs |
| thesis.grantor | Vysoké učení technické v Brně. Fakulta strojního inženýrství. Ústav matematiky | cs |
| thesis.level | Inženýrský | cs |
| thesis.name | Ing. | cs |