Tracking Control Design for Nonholonomic Mechanical Systems with Affine Constraints

作     者：Wei Sun Yu-Qiang Wu Zong-Yao Sun 

作者机构：School of Automation Southeast University Institute of Automation Qufu Normal University 

出 版 物：《International Journal of Automation and computing》 (国际自动化与计算杂志（英文版）)

年 卷 期：2014年第11卷第3期

页      面：328-333页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

基　　金：supported by National Natural Science Foundation of China(Nos.61273091,61004013 and 61304059) Ph.D.Programs Foundation of Ministry of Education of China,and Fundamental Research Funds for the Central Universities(No.CXLX12 0096) 

主　　题：Tracking control nonholonomic systems affine constraints constraint forces integral feedback compensation 

摘      要：The trajectory tracking control is considered for nonholonomic mechanical systems with affine constraints and dynamic friction. A new state transformation is proposed to deal with affine constraints, and then an integral feedback compensation strategy is used to identify the dynamic friction. The proposed controller ensures that the output tracking errors converge to zero as t →∞.As an application, a detailed example is presented to illustrate the effectiveness of the control scheme.