ROBUST MOTION FORCE CONTROL OF MECHANICAL SYSTEMS WITH CLASSICAL NONHOLONOMIC CONSTRAINTS

被引：95
作者：
SU, CY
STEPANENKO, Y
机构：
[1] Department of Mechanical Engineering, University of Victoria, Victoria
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1994年 / 39卷 / 03期
关键词：
D O I：
10.1109/9.280771
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The position/force control of mechanical systems subject to a set of classical nonholonomic constraints represents an important class of control problems. In this note, a reduced dynamic model, suitable for simultaneous independent motion and force control, is developed. Some properties of the dynamic model are exploited to facilitate the controller design. Based on the theory of guaranteed stability of uncertain systems, a robust control algorithm is derived, which guarantees the uniform ultimate boundedness of the tracking errors. A detailed numerical example is presented to illustrate the developed method.
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页码：609 / 614
页数：6
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