Robust and adaptive control of nonholonomic mechanical systems with application to mobile robots (Q2758328)
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scientific article; zbMATH DE number 1679712
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Robust and adaptive control of nonholonomic mechanical systems with application to mobile robots |
scientific article; zbMATH DE number 1679712 |
Statements
6 December 2001
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adaptive control
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nonholonomic mechanical systems
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backstepping design
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high-order sliding mode
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differential flat system
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Robust and adaptive control of nonholonomic mechanical systems with application to mobile robots (English)
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Robust and adaptive control problems of uncertain nonholonomic mechanical systems are studied by considering a reduced model of uncertain nonholonomic mechanical systems with classical nonholonomic constraints. After reviewing some properties of these systems, based on the backstepping design approach, high-order sliding mode and differential flat system theory, some adaptive and robust control strategies for a class of nonholonomic mechanical control systems with mismatched uncertainties are given. This approach is then applied to a two-wheel driven nonholonomic robot.NEWLINENEWLINEFor the entire collection see [Zbl 0968.00022].
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