DocumentCode
1429005
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
Volume
16
Issue
6
fYear
2000
fDate
12/1/2000 12:00:00 AM
Firstpage
870
Lastpage
874
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;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.897799
Filename
897799
Link To Document