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Motion/force tracking control of nonholonomic mechanical systems via combining cascaded design and backstepping

✍ Scribed by Fu, Jun; Chai, Tianyou; Su, Chun-Yi; Jin, Ying

Book ID: 121506795
Publisher: Elsevier Science
Year: 2013
Tongue: English
Weight: 378 KB
Volume: 49
Category: Article
ISSN: 0005-1098
DOI: 10.1016/j.automatica.2013.09.004

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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