Adaptive control of mechanical systems with classical nonholonomic constraints

The position/force control of mechanical systems subject to a set of classical nonholonomic constraints represents an important class of control problems. In this paper a reduced dynamic model, suitable for simultaneous independent motion and force control, is developed by exploiting the physical st...

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Bibliographic Details
Published in1995 IEEE International Conference on Systems, Man and Cybernetics Vol. 5; pp. 4143 - 4148 vol.5
Main Authors Chun-Yi Su, Stepanenko, Y.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1995
Subjects
Adaptive control
Control systems
Equations
Feedback
Force control
Force measurement
Kinematics
Mechanical systems
Nonlinear dynamical systems
Stability analysis
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ISBN0780325591
9780780325593
DOI10.1109/ICSMC.1995.538440

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Summary:The position/force control of mechanical systems subject to a set of classical nonholonomic constraints represents an important class of control problems. In this paper a reduced dynamic model, suitable for simultaneous independent motion and force control, is developed by exploiting the physical structure of the systems. Some properties of the dynamic model are obtained to facilitate the controller design. An adaptive control algorithm is therefore derived. Stability analysis shows the stabilization of the manifold.
ISBN:0780325591
9780780325593
DOI:10.1109/ICSMC.1995.538440