Trajectory Tracking Control for A Class of Nonholonomic Mechanical Systems

被引：0
|
作者：
Sun Wei [1 ]
Wu Yu-Qiang [2 ]
Sun Zong-Yao [2 ]
机构：
[1] Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China
[2] Qufu Normal Univ, Inst Automat, Qufu 273165, Peoples R China
来源：
2013 32ND CHINESE CONTROL CONFERENCE (CCC) | 2013年
关键词：
Tracking control; nonholonomic mechanical systems; affine contraints; Lyapunov method; FEEDBACK STABILIZATION; MOTION/FORCE CONTROL; MOBILE ROBOT; UNCERTAINTIES; PARAMETER;
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：
This paper investigates trajectory tracking control for nonholonomic mechanical systems with affine constraints. To achieve the asymptotic tracking result, by flexibly using the Algebra processing technique, reduce the number of state variables, and then an integral feedback compensation strategy is used to identify the dynamic friction. The controller guarantees that the configuration state of the system semi-global asymptotically tracks the desired trajectory. Finally, an example is given to demonstrate the effectiveness of the control scheme.
引用
收藏
页码：391 / 395
页数：5
相关论文
共 50 条
  • [41] Event-triggered tracking control for a class of nonholonomic systems in chained form
    Liang XU
    Youfeng SU
    He CAI
    Science China(Information Sciences), 2023, 66 (07) : 147 - 161
  • [42] Trajectory tracking for nonholonomic vehicles
    Morin, Pascal
    Samson, Claude
    ROBOT MOTION AND CONTROL: RECENT DEVELOPMENTS, 2006, 335 : 3 - 23
  • [43] Trajectory tracking for nonholonomic vehicles
    INRIA, 2004 Route des Lucioles, 06902 Sophia-Antipolis Cedex, France
    Lect. Notes Control Inf. Sci., 2006, (3-23):
  • [44] Switching-Based Robust Tracking Control for Nonholonomic Constrained Mechanical Systems
    Wu Yuqiang
    Zhang Zhongcai
    2013 32ND CHINESE CONTROL CONFERENCE (CCC), 2013, : 3164 - 3169
  • [45] Robust adaptive motion/force tracking control of uncertain nonholonomic mechanical systems
    Oya, M
    Su, CY
    Katoh, R
    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2003, 19 (01): : 175 - 181
  • [46] Variational Principles for the Trajectory Tracking Control of Underactuated Mechanical Systems
    Bodor, Balint
    Bencsik, Laszlo
    JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS, 2023, 18 (06):
  • [47] Nonlinear predictive control for trajectory tracking of underactuated mechanical systems
    Saidi, Imen
    Touati, Nahla
    PRZEGLAD ELEKTROTECHNICZNY, 2021, 97 (06): : 30 - 33
  • [48] Trajectory Tracking Control of a Nonholonomic Mobile Robot with Differential Drive
    Silva Sousa, Rigoberto Luis
    do Nascimento Forte, Marcus Davi
    Nogueira, Fabricio Gonzalez
    Torrico, Bismark Claure
    2016 IEEE BIENNIAL CONGRESS OF ARGENTINA (ARGENCON), 2016,
  • [49] Exponential Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots
    Petrov, Plamen
    Kralov, Ivan
    MATHEMATICS, 2025, 13 (01)
  • [50] Trajectory tracking control for a nonholonomic mobile robot under ROS
    Besseghieur, Khadir Lakhdar
    Trebhiski, Radoslaw
    Kaczmarek, Wojbciech
    Panasiuk, Jaroslaw
    6TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND CONTROL ENGINEERING (ICMCE 2017), 2018, 1016
12345