DocumentCode :
3579936
Title :
Modeling and motion/force tracking for nonholonomic dynamic systems with affine constraints
Author :
Zhongcai Zhang ; Yuqiang Wu
Author_Institution :
Sch. of Autom., Southeast Univ., Nanjing, China
fYear :
2014
Firstpage :
135
Lastpage :
140
Abstract :
This paper is devoted to the problem of modeling and position/force tracking for nonholonomic dynamic systems with affine constraints. The rigorous derivation of dynamic model is given. By reasonably introducing so-called internal state vector, a reduced dynamic model, which is suitable for control design, is addressed. Based on the sliding-mode theory, an adaptive control strategy is then derived, guaranteeing that 1) the trajectory tracking error converges to zero; 2) the tracking error of constraints force is bounded with a controllable bound. The efficiency of the controller is demonstrated by a mechanics system: a boat on a running river.
Keywords :
adaptive control; control system synthesis; force control; motion control; robot dynamics; trajectory control; variable structure systems; adaptive control strategy; affine constraints; constraints force; control design; controllable bound; internal state vector; mechanics system; modeling; motion/force tracking; nonholonomic dynamic systems; position/force tracking; reduced dynamic model; sliding-mode theory; trajectory tracking error; Boats; Dynamics; Force; Mechanical systems; Rivers; Symmetric matrices; Vectors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2014 13th International Conference on
Type :
conf
DOI :
10.1109/ICARCV.2014.7064293
Filename :
7064293
Link To Document :
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