Tracking control design for nonholonomic mechanical systems with affine constraints

被引：8
|
作者：
Sun W. [1 ]
Wu Y.-Q. [2 ]
Sun Z.-Y. [2 ]
机构：
[1] School of Automation, Southeast University, Nanjing
[2] Institute of Automation, Qufu Normal University, Qufu
来源：
International Journal of Automation and Computing | 2014年 / 11卷 / 3期
基金：
中国国家自然科学基金;
关键词：
affine constraints; constraint forces; integral feedback compensation; nonholonomic systems; Tracking control;
D O I：
10.1007/s11633-014-0796-3
中图分类号：
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. © 2014 Institute of Automation, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg.
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页码：328 / 333
页数：5
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