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

被引：0
|
作者：
Sun, Wei [1 ]
Wu, Yu-qiang [2 ]
机构：
[1] Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China
[2] Qufu Normal Univ, Inst automat, Shanghai 273165, Peoples R China
来源：
2014 INTERNATIONAL CONFERENCE ON AUTOMATIC CONTROL THEORY AND APPLICATION | 2014年
基金：
中国国家自然科学基金;
关键词：
Tracking control; mechanical system; holonomic constraints; affine constraints;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The motion/force tracking control of nonholonomic mechanical systems with affine constraints is investigated in this paper. By flexibly using the algebra processing technique, constraint 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.
引用
收藏
页码：133 / 136
页数：4
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