Robust and adaptive control of nonholonomic mechanical systems with application to mobile robots
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].
scientific article; zbMATH DE number 1679712