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Tracking Control Design for Nonholonomic Mechanical Systems with Affine Constraints 被引量:1
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作者 Wei Sun Yu-Qiang Wu Zong-Yao Sun 《International Journal of Automation and computing》 EI CSCD 2014年第3期328-333,共6页
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 integ... 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. 展开更多
关键词 Tracking control nonholonomic systems affine constraints constraint forces integral feedback compensation
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