Tracking control of uncertain dynamic nonholonomic system and its application to wheeled mobile robots

被引：65
作者：
Dong, Wenjie [2 ]
Huo, Wei [1 ,2 ]
Tso, S.K. [1 ,3 ]
Xu, W.L. [4 ]
机构：
[1] Seventh Research Division, Beijing University of Aeronautics and Astronautics
[2] Centre for Intelligent Design, Automation and Manufacturing, City University of Hong Kong, Hong Kong
[3] Institute of Technology and Engineering, Massey University
来源：
| 2000年 / IEEE, Piscataway, NJ, United States卷 / 16期
基金：
中国国家自然科学基金;
关键词：
Nonholonomic systems - Tracking control;
D O I：
10.1109/70.897799
中图分类号：
学科分类号：
摘要：
This paper considers the tracking problem of dynamic nonholonomic systems with unknown inertia parameters. A new controller is proposed. The proposed controller not only ensures the entire state of the dynamic system asymptotically track the desired trajectory, but also is characterized by low dimension and the absence of singular points. Simulation results show that the proposed controller is effective.
引用
收藏
页码：870 / 874
页数：4
相关论文
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