Motion tracking control of nonholonomic systems including actuator dynamics

被引：0
|
作者：
Fu, Jun [1 ]
Chai, Tianyou [1 ]
机构：
[1] Northeastern Univ, State Key Lab Synthet Automat Proc Ind, Shenyang 110819, Liaoning, Peoples R China
来源：
2017 2ND INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM) | 2017年
关键词：
Motion control; Actuator dynamics; Cascaded systems; Backstepping; Nonholonomic mobile robot; MECHANICAL SYSTEMS; STABILIZATION; DESIGN;
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：
Motion tracking control of nonholonomic mobile robot systems including actuator dynamics is addressed in this paper. A tracking controller is designed at actuator level, which guarantees that the mobile robot tracks a given trajectory. A detailed numerical example is showed to illustrate and validate the proposed method in this paper.
引用
收藏
页码：25 / 30
页数：6
相关论文
共 50 条
  • [31] Adaptive tracking control for nonholonomic systems with unknown parameters
    Wang, HY
    Fukao, T
    Adachi, N
    ADVANCED ROBOTICS, 2002, 16 (02) : 175 - 190
  • [32] A near optimal tracking control of dynamic nonholonomic systems
    Wang, J
    Qu, ZH
    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS, 2003, : 202 - 207
  • [33] A Suboptimal Tracking Control for a Calss of Nonholonomic Chained Systems
    Li, Baojun
    2013 25TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2013, : 4527 - 4530
  • [34] Adaptive tracking control design of nonholonomic mechanical systems
    Chang, YC
    Chen, BS
    PROCEEDINGS OF THE 35TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, 1996, : 4739 - 4744
  • [35] Trajectory Tracking Control for A Class of Nonholonomic Mechanical Systems
    Sun Wei
    Wu Yu-Qiang
    Sun Zong-Yao
    2013 32ND CHINESE CONTROL CONFERENCE (CCC), 2013, : 391 - 395
  • [36] NONLINEAR CONTROL FOR THE NONHOLONOMIC MOTION OF SPACE ROBOT SYSTEMS
    NAKAMURA, Y
    MUKHERJEE, R
    LECTURE NOTES IN CONTROL AND INFORMATION SCIENCES, 1991, 162 : 83 - 105
  • [37] Controllability and motion planning for noncatastatic nonholonomic control systems
    Kolmanovsky, I
    McClamroch, NH
    MATHEMATICAL AND COMPUTER MODELLING, 1996, 24 (01) : 31 - 42
  • [38] Neural dynamics based tracking control for nonholonomic mobile robots
    Research Center of Information and Control, Dalian University of Technology, Dalian 116024, China
    Jiqiren, 2007, 5 (485-491):
  • [39] Neural dynamics based tracking control for nonholonomic mobile robot
    Sun, Yue
    Zhuang, Yan
    Wang, Wei
    WCICA 2006: SIXTH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-12, CONFERENCE PROCEEDINGS, 2006, : 143 - 143
  • [40] Modeling and Motion/Force Tracking for Nonholonomic Dynamic Systems with Affine Constraints
    Zhang, Zhongcai
    Wu, Yuqiang
    2014 13TH INTERNATIONAL CONFERENCE ON CONTROL AUTOMATION ROBOTICS & VISION (ICARCV), 2014, : 135 - 140
12345