Trajectory tracking control of dynamic non-holonomic systems with unknown dynamics

DOI<905::AID-RNC443>3.0.CO;2-1 10.1002/(SICI)1099-1239(199911)9:13<905::AID-RNC443>3.0.CO;2-1zbMath0936.93033OpenAlexW2160218099MaRDI QIDQ4934212

Weiliang Xu, Wei Huo, Wenjie Dong

Publication date: 7 May 2000

Full work available at URL: https://doi.org/10.1002/(sici)1099-1239(199911)9:13<905::aid-rnc443>3.0.co;2-1

zbMATH Keywords

wheeled mobile robotnonholonomic systemadaptive robust controltracking control

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Related Items

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 ⋮ Adaptive motion/force control of nonholonomic mechanical systems with affine constraints

Cites Work

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• Control and stabilization of nonholonomic dynamic systems
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• Flatness and defect of non-linear systems: introductory theory and examples
• A robust H ^∞ model reference tracking design for non-holonomic mechanical control systems
• Adaptive motion tracking control of robot manipulators—non-regressor based approach