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Adaptive control of holonomic constrained systems: a feedforward fuzzy approximation-based approach

✍ Scribed by Chian-Song Chiu; Kuang-Yow Lian; Liu, P.

Book ID: 118169335
Publisher: IEEE
Year: 2006
Tongue: English
Weight: 656 KB
Volume: 14
Category: Article
ISSN: 1063-6536
DOI: 10.1109/tcst.2006.872527

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## Abstract This paper proposes a robust adaptive motion/force tracking controller for holonomic constrained mechanical systems with parametric uncertainties and disturbances. First, two types of well‐known holonomic systems are reformulated as a unified control model. Based on the unified control

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