Trajectory tracking control of dynamic non-holonomic systems with unknown dynamics
The authors study a general mechanical system with nonholonomic constraints of the form \(M(q) \ddot q+C(q, \dot q)\dot q+G(q)+F_{\text{fri}}(\dot q)+F_{\text{dis}}(t) =B(q)\tau+J^T(q)\lambda,\) \(J(q)\dot q=0,\) where \(q=[q_1,\ldots,q_n]^T\) is an n-vector of generalized coordinates, \(M(q)\) is a bounded, positive-definite, symmetric inertia matrix, \(C(q, \dot q) \dot q\) is an \(n\)-vector of centripetal and Coriolis torque, \(G(q)\) is an \(n\)-vector of gravitational torque, \(F_{\text{fri}}(\dot q)\) represents viscous/Coulomb joint frictional forces, \(F_{\text{dis}}(t)\) is bounded external disturbance, \(B(q)\) is an input transformation matrix, \(J(q)\) is a full rank matrix, \(\lambda\) is a Lagrange multiplier (vector), \(\tau\) is a control input (vector), and the superscript \(T\) denotes the transpose of a matrix. The quantities \(M(q),\) \(C(q, \dot q),\) and \(G(q)\) are assumed to be unknown, and the constraint \(J(q)\dot q=0\) is assumed to be completely nonholonomic. Given a differential trajectory \(y(t) \in {\mathbb R}^n\) which satisfies the constraint \(J(q)\dot q=0,\) the tracking problem can be stated as follows: find a feedback control law \(\tau\) such that \(\lim(q-y)=0,\) and \(\lim(\dot q-\dot y)=0\) (both as \(t\rightarrow \infty\)). The main contribution of the paper is a construction of adaptive robust controllers for the above tracking problem. The controllers are of low dimension and no singular points can make the configuration state asymptotically track the desired trajectory. An application to a wheeled mobile robot is presented. Finally, a simulation illustrates the effectiveness of the method.
- Adaptive tracking control of uncertain nonholonomic dynamic system
- Approximation based adaptive tracking control of uncertain nonholomorphic mechanical systems
- Trajectory tracking control for nonholonomic mobile robots with unknown parameters and bounded disturbance
- Modeling and adaptive tracking for stochastic nonholonomic constrained mechanical systems
- Trajectory tracking control of nonholonomic mobile robot with input saturation constraints
- A robust H ∞ model reference tracking design for non-holonomic mechanical control systems
- Adaptive motion tracking control of robot manipulators—non-regressor based approach
- Control and stabilization of nonholonomic dynamic systems
- Flatness and defect of non-linear systems: introductory theory and examples
- Nonholonomic motion planning: steering using sinusoids
- Robust motion/force control of mechanical systems with classical nonholonomic constraints
- Stabilization of multiple input chained form control systems
- Stabilization of trajectories for systems with nonholonomic constraints
- Robust tracking control of nonholonomic dynamic systems with application to the bi-steerable mobile robot
- On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty
- Tracking control for mobile robots considering the dynamics of all their subsystems: experimental implementation
- On robust hybrid force/motion control strategies based on actuator dynamics for nonholonomic mobile manipulators
- A mixed \(H_{2}/H_{\infty}\) adaptive tracking control for constrained non-holonomic systems.
- Trajectory following methods in control system design
- Safe trajectory tracking for underactuated vehicles with partially unknown dynamics
- Trajectory tracking control of nonholonomic Hamiltonian systems via generalized canonical transformations
- Approximation based adaptive tracking control of uncertain nonholomorphic mechanical systems
- Adaptive optimal dynamic control for nonholonomic systems
- Model-based tracking control of nonlinear systems.
- Tracking control designs for both holonomic and non-holonomic constrained mechanical systems: a unified viewpoint
- Trajectory tracking for nonholonomic vehicles
- Trajectory Tracking Control for Nonholonomic Mobile Manipulators
- Geometric optimal trajectory tracking of nonholonomic mechanical systems
- Navigation functions for dynamical, nonholonomically constrained mechanical systems
- Trajectory tracking control for nonholonomic mobile robots with unknown parameters and bounded disturbance
- Error function based kinematic control design for nonholonomic mechanical systems
- Adaptive tracking control of uncertain nonholonomic dynamic system
- Learning optimal trajectories for non-holonomic systems
- On the problem of tracking for the nonholonomic systems with provision for the feedback delay
- Adaptive motion/force control of nonholonomic mechanical systems with affine constraints
- Modeling and adaptive tracking for stochastic nonholonomic constrained mechanical systems
- Tracking problems for mechanical system with delayed control and unknown inertia matrix
- Coordinate-free control for the isoline tracking of an unknown scalar field
- A path following problem for a class of non-holonomic control systems with noise
This page was built for publication: Trajectory tracking control of dynamic non-holonomic systems with unknown dynamics
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q4934212)
