Robust motion tracking control of partially nonholonomic mechanical systems

This paper proposes a stable motion tracking control law for mechanical systems subject to both nonholonomic and holonomic constraints. The control law is developed at the dynamic level and can deal with model uncertainties. The proposed control law ensures the desired trajectory tracking of the con...

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Bibliographic Details
Published inRobotics and autonomous systems Vol. 54; no. 4; pp. 332 - 341
Main Authors Wang, Jian, Zhu, Xiangyang, Oya, Masahiro, Su, Chun-Yi
Format Journal Article
LanguageEnglish
Published Elsevier B.V 28.04.2006
Subjects
Adaptive control
Holonomic constraint
Mechanical systems
Nonholonomic constraint
Robust control
Tracking
Robust control
Tracking
Mechanical systems
Holonomic constraint
Adaptive control
Nonholonomic constraint
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ISSN0921-8890
1872-793X
DOI10.1016/j.robot.2005.11.007

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Summary:This paper proposes a stable motion tracking control law for mechanical systems subject to both nonholonomic and holonomic constraints. The control law is developed at the dynamic level and can deal with model uncertainties. The proposed control law ensures the desired trajectory tracking of the configuration state of the closed-loop system. A global asymptotic stability result is obtained in the Lyapunov sense. A detailed example is presented to illustrate the proposed method.
ISSN:0921-8890
1872-793X
DOI:10.1016/j.robot.2005.11.007