Robust motion/force control of uncertain holonomic/nonholonomic mechanical systems

被引：83

作者：

Wang, ZP ^{[1
]}

Ge, SS ^{[1
]}

Lee, TH ^{[1
]}

机构：

[1] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2004年 / 9卷 / 01期

关键词：

force control; holonomic; motion control; nonholonomic; robust;

D O I：

10.1109/TMECH.2004.823887

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, robust control strategies are presented systematically for both holonomic mechanical systems and a large class of nonholonomic mechanical systems in the presence of uncertainties and disturbances. First, robust control strategies are presented for both kinds of systems using the bounds of system parameters, respectively. Then, adaptive robust control strategies are presented by tuning the parameter estimates online. Proportional plus integral feedback control is used for force control for the benefit of real-time implementation. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance while the constraint force remains bounded.

引用

页码：118 / 123

页数：6

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