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Tracking Control Design for Nonholonomic Mechanical Systems with Affine Constraints
  • 时间：0
  • 分类：TP13[自动化与计算机技术—控制科学与工程;自动化与计算机技术—控制理论与控制工程]
  • 作者机构：School of Automation, Southeast University, Institute of Automation, Qufu Normal University
  • 相关基金：supported by National Natural Science Foundation of China(Nos.61273091,61004013 and 61304059);Ph.D.Programs Foundation of Ministry of Education of China,and Fundamental Research Funds for the Central Universities(No.CXLX12 0096)
作者： Wei Sun, Yu-Qiang Wu, Zong-Yao Sun
关键词： Tracking, control, NONHOLONOMIC, systems, AFFINE, CONSTRAINTS, CONSTRAINT, FORCES, integral, feedback, compensation
中文摘要：

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.

英文摘要：

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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