Robust and adaptive control of nonholonomic mechanical systems with application to mobile robots
type: Item
instance of: scholarly article
zbMATH Open document ID: 0989.93049
publication date: 2001-12-06T00:00:00Z
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 93B12
Mathematics Subject Classification ID: 70F25
zbMATH DE Number: 1679712
zbMATH Keywords: adaptive control
zbMATH Keywords: nonholonomic mechanical systems
zbMATH Keywords: backstepping design
zbMATH Keywords: high-order sliding mode
zbMATH Keywords: differential flat system
MaRDI profile type: Publication
author: Y. M. Hu
author: W. Huo
title: Robust and adaptive control of nonholonomic mechanical systems with application to mobile robots
review text: 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].
reviewed by: Kurt Marti
description: scientific article; zbMATH DE number 1679712