Tracking Control Design for Nonholonomic Mechanical Systems with Affine Constraints

被引：2
|
作者：
Wei Sun [1 ]
YuQiang Wu [2 ]
ZongYao Sun [2 ]
机构：
[1] School of Automation, Southeast University
[2] Institute of Automation, Qufu Normal
来源：
International Journal of Automation & Computing | 2014年 / 11卷 / 03期
关键词：
D O I：
暂无
中图分类号：
TP13 [自动控制理论];
学科分类号：
摘要：
The trajectory tracking control is considered for nonholonomic mechanical systems with affine constraints and dynamic friction. A new state transformation is proposed to deal with affine constraints, and then an integral feedback compensation strategy is used to identify the dynamic friction. The proposed controller ensures that the output tracking errors converge to zero as t →∞.As an application, a detailed example is presented to illustrate the effectiveness of the control scheme.
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收藏
页码：328 / 333
页数：6
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