Unified controller for both trajectory tracking and point regulation of second-order nonholonomic chained systems

被引：14
作者：
Ma, B. L. [1 ]
Tso, S. K. [2 ]
机构：
[1] Beijing Univ Aeronaut & Astronaut, Div Res 7, Beijing 100083, Peoples R China
[2] City Univ Hong Kong, Hong Kong, Hong Kong, Peoples R China
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2008年 / 56卷 / 04期
基金：
中国国家自然科学基金;
关键词：
second-order nonholonomic chained systems; unified controller; trajectory tracking; point regulation;
D O I：
10.1016/j.robot.2007.09.002
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 article, a unified controller is developed for both trajectory tracking and point regulation of nonholonomic second-order chained systems. The controller design relies on converting the error model of second-order chained systems to the form of perturbed first-order nonholonomic integrator, followed by a dynamic state feedback control law steering the tracking error to origin exponentially. The proposed control law is universal for both trajectory tracking and point regulation, as the reference trajectories can be any one produced by bounded reference inputs. The control design approach is illustrated by application to a planar manipulator with two translational actuated joints and one revolute unactuated joint. Simulation results show the effectiveness of the proposed approach. (c) 2007 Elsevier B.V. All rights reserved.
引用
收藏
页码：317 / 323
页数：7
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