DocumentCode :
326839
Title :
Control of uncertain nonholonomic mechanical systems using differential flatness
Author :
Barany, E. ; Glass, K. ; Colbaugh, R.
Author_Institution :
Center for Dynamics, Mech. & Control, New Mexico State Univ., Las Cruces, NM, USA
Volume :
2
fYear :
1998
fDate :
21-26 Jun 1998
Firstpage :
917
Abstract :
Considers the problem of controlling uncertain nonholonomic mechanical systems which are differentially flat, that is, which admit a set of (flat) outputs with the property that there is a one to one correspondence between system trajectories and output curves. It is proposed that a simple and effective solution to this problem can be obtained by combining a trajectory generation algorithm for the flat outputs with an adaptive tracking scheme for a set of “reducing” outputs; these reducing outputs are a subset of the configuration coordinates and are easily obtained. This approach is shown to ensure accurate motion control despite considerable uncertainty regarding the system dynamic model, and to be generalizable to provide compensation for uncertainty in the kinematic model as well
Keywords :
adaptive control; dynamics; kinematics; motion control; uncertain systems; adaptive tracking scheme; differential flatness; dynamic model; flat outputs; kinematic model; motion control; reducing outputs; trajectory generation algorithm; uncertain nonholonomic mechanical systems; Adaptive control; Control system synthesis; Control systems; Glass; Kinematics; Mechanical factors; Mechanical systems; Motion control; Trajectory; Uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 1998. Proceedings of the 1998
Conference_Location :
Philadelphia, PA
ISSN :
0743-1619
Print_ISBN :
0-7803-4530-4
Type :
conf
DOI :
10.1109/ACC.1998.703541
Filename :
703541
Link To Document :
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