Trajectory tracking control for a class of nonholonomic mechanical systems

This paper investigates trajectory tracking control for nonholonomic mechanical systems with affine constraints. To achieve the asymptotic tracking result, by flexibly using the Algebra processing technique, reduce the number of state variables, and then an integral feedback compensation strategy is used to identify the dynamic friction. The controller guarantees that the configuration state of the system semi-global asymptotically tracks the desired trajectory. Finally, an example is given to demonstrate the effectiveness of the control scheme.