Title :
Tracking control of uncertain dynamic nonholonomic system and its application to wheeled mobile robots
Author :
Dong, Wenjie ; Huo, Wei ; Tso, S.K. ; Xu, W.L.
Author_Institution :
Seventh Res. Div., Beijing Univ. of Aeronaut. & Astronaut., China
fDate :
12/1/2000 12:00:00 AM
Abstract :
Considers the tracking problem of dynamic nonholonomic systems with unknown inertia parameters. A new controller is proposed. The proposed controller not only ensures the entire state of the dynamic system asymptotically track the desired trajectory, but also is characterized by low dimension and the absence of singular points. Simulation results show that the proposed controller is effective
Keywords :
adaptive control; control system synthesis; mobile robots; nonlinear control systems; position control; uncertain systems; asymptotic trajectory tracking; tracking control; uncertain dynamic nonholonomic system; wheeled mobile robots; Aerodynamics; Control systems; Kinematics; Manufacturing automation; Mobile robots; Nonlinear control systems; Nonlinear dynamical systems; Symmetric matrices; Trajectory; Uncertainty;
Journal_Title :
Robotics and Automation, IEEE Transactions on
