A robust H ∞ model reference tracking design for non-holonomic mechanical control systems

DOI10.1080/00207179608921844MaRDI QIDQ4873110zbMATH OpenOpenAlexFDO

Authors Bor-Sen Chen, Tzann-Shin Lee, Wei-Sheng Chang

Publication date 7 October 1996

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207179608921844

zbMATH Keywords

\(H^\infty\) controlknife edgenon-holonomic mechanical systemsparameter perturbationsrobustrobust trackingvertical wheel

Mathematics Subject Classification ID

(H^infty)-control (93B36) Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• A mixed \(H_{2}/H_{\infty}\) adaptive tracking control for constrained non-holonomic systems.
• H/sub ∞/ tracking control for a class of nonlinear systems
• Tracking control designs for both holonomic and non-holonomic constrained mechanical systems: a unified viewpoint
• Robust tracking control of nonholonomic dynamic systems with application to the bi-steerable mobile robot
• Lyapunov design of global state and output feedback trackers for non-holonomic control systems

Cites work

• $H_\infty $ Control with Transients
• A nonlinear H_∞ control design in robotic systems under parameter perturbation and external disturbance
• Classical adiabatic angles and quantal adiabatic phase
• Decoupling with dynamic compensation for strong invertible affine non-linear systems
• Dynamic noncooperative game theory
• Feedback stabilization and tracking of constrained robots
• scientific article; zbMATH DE number 3601149 (Why is no real title available?)
• Robust force control for robotic manipulators
• Robust output tracking for non-linear systems
• Stabilizability of nonholonomic control systems
• Tracking control designs for both holonomic and non-holonomic constrained mechanical systems: a unified viewpoint

Cited in

(7)

• Robust tracking control of nonholonomic dynamic systems with application to the bi-steerable mobile robot
• A mixed \(H_{2}/H_{\infty}\) adaptive tracking control for constrained non-holonomic systems.
• A nonlinear optimal control approach for tracked mobile robots
• Tracking control designs for both holonomic and non-holonomic constrained mechanical systems: a unified viewpoint
• Trajectory tracking control of dynamic non-holonomic systems with unknown dynamics
• A unique robust controller for tracking and stabilisation of non-holonomic vehicles
• Stabilizability and motion tracking conditions for mechanical nonholonomic control systems

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