Adaptive Motion/Force Tracking Control for a Class of Nonholonomic Mechanical Systems

DOI

10.2991/acta-14.2014.32How to use a DOI?

Keywords

Tracking control; mechanical system; holo-nomic constraints; affine constraints.

Abstract

The motion/force tracking control of nonholonomic mechanical systems with affine constraints is investigated in this paper. By flexibly using the algebra processing technique, con-straint forces are successfully canceled in the dynamic equations, and then an integral feedback compensation strategy and an adaptive scheme are applied to identify the dynamic uncertainty. The proposed controller ensures that the state of the closed-loop system asymptotically tracks the desired trajectory and the force tracking error has a controllable bound.

Copyright

© 2014, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Sun Wei
AU  - Wu Yu-qiang
PY  - 2014/06
DA  - 2014/06
TI  - Adaptive Motion/Force Tracking Control for a Class of Nonholonomic Mechanical Systems
BT  - 2014 International Conference on Automatic Control Theory and Application
PB  - Atlantis Press
SP  - 133
EP  - 136
SN  - 2352-5398
UR  - https://doi.org/10.2991/acta-14.2014.32
DO  - 10.2991/acta-14.2014.32
ID  - Wei2014/06
ER  -