Modeling and adaptive motion/force tracking for vertical wheel on rotating table

作     者：Zhongcai Zhang Yuqiang Wu Wei Sun 

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

出 版 物：《Journal of Systems Science & Complexity》 (系统科学与复杂性学报（英文版）)

年 卷 期：2015年第28卷第5期

页      面：1060-1069页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 081104[工学-模式识别与智能系统] 08[工学] 070105[理学-运筹学与控制论] 081101[工学-控制理论与控制工程] 071101[理学-系统理论] 0811[工学-控制科学与工程] 0701[理学-数学] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

基　　金：supported by the National Natural Science Foundation of China(61273091 61403227 61403228) the Ph.D.Programs Foundation of Ministry of Education of China the Fundamental Research Funds for the Central Universities(KYLX15 0116) the Project of Taishan Scholar of Shandong Province of China 

主　　题：nonholonomic system adaptive motion/force tracking mechanics model affine constraint. 

摘      要：This paper is devoted to the problem of modeling and adaptive motion/force tracking for a class of nonholonomic dynamic systems with affine constraints(NDSAC): a vertical wheel on a rotating table. Prior to the development of tracking controller,the dynamic model of the wheel in question is derived in a meticulous manner. A continuously differentiable friction model is also considered in the modeling. By exploiting the inherent cascade interconnected structure of the wheel dynamics, an adaptive motion/force tracking controller is presented guaranteeing that the trajectory tracking errors asymptotically converge to zero while the contact force tracking errors can be made small enough by tuning design parameters. Simulation results are provided to validate the effectiveness of the proposed tracking methodology.