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Trajectory tracking control of dynamic non-holonomic systems with unknown dynamics

✍ Scribed by Wenjie Dong; Wei Liang Xu; Wei Huo

Publisher
John Wiley and Sons
Year
1999
Tongue
English
Weight
149 KB
Volume
9
Category
Article
ISSN
1049-8923

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✦ Synopsis

Trajectory tracking control of the non-holonomic system has attracted lots of interest recently, but little has been done in the tracking problem of the uncertain dynamic non-holonomic systems. The paper deals with the trajectory tracking problem of the dynamic non-holonomic systems with unknown dynamics. New adaptive robust controllers are proposed for globally tracking problem. The controllers of low dimension and no singular points can make the con"guration state asymptotically track the desired trajectory. An application to a wheeled mobile robot is presented, and the e!ectiveness of the approach is veri"ed by simulation.

πŸ“œ SIMILAR VOLUMES

Fundamental Principles of Lagrangian Dyn
Fundamental Principles of Lagrangian Dynamics: Mechanical Systems with Non-ideal, Holonomic, and Nonholonomic Constraints
✍ Firdaus E. Udwadia πŸ“‚ Article πŸ“… 2000 πŸ› Elsevier Science 🌐 English βš– 96 KB

This paper deals with the foundations of analytical dynamics. It obtains the explicit equations of motion for mechanical systems that are subjected to non-ideal holonomic and nonholonomic equality constraints. It provides an easy incorporation of such non-ideal constraints into the framework of Lagr