Adaptive stabilization of uncertain dynamic non-holonomic systems
The authors study the stabilization problem of an uncertain dynamic nonholonomic chained system with unknown constant inertia parameters of the form: \[ M(q)\ddot q+C(q,\dot q)\dot q+G(q)= B(q)\tau+ J^T(q) \lambda, \quad J(q)\dot q=0, \] where \(q=[q_1,q_2, \dots,q_n]^T\) is an \(n\)-vector of generalized coordinates, \(M(q)\) is an \(n\times n\) bounded positive definite symmetric inertia matrix, \(C(q,\dot q)\dot q\) presents the \(n\)-vectors of centripetal and Coriolis torques, \(G(q)\) is the \(n\)-vector of gravitational torques, \(B(q)\) is an \(n\times n\) input transformation matrix, \(J(q)\) is an \((n-m)\times n\) full rank matrix, \(2\leq m<n\), \(r\geq m\), \(\lambda\) is an \((n-m)\)-vector Lagrange multiplier and \(\tau\) is an \(r\)-vector of control input. Global time-varying adaptive stabilizing control laws for such a system are presented. The application of them to a non-holonomic wheeled mobile robot is described.
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- scientific article; zbMATH DE number 1360044 (Why is no real title available?)
- On stabilization of uncertain dynamic nonholonomic systems
- Adaptive/robust time-varying stabilization of second-order non-holonomic chained form with input uncertainties
- Output feedback control for nonholonomic systems with non-vanishing disturbances
- Design of feedback stabilisers using Wiener processes for nonlinear systems
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