DocumentCode
1456938
Title
Adaptive tracking control of uncertain nonholonomic dynamic system
Author
Dong, Wenjie ; Xu, W.L.
Author_Institution
Dept. of Autom., Tsinghua Univ., Beijing, China
Volume
46
Issue
3
fYear
2001
fDate
3/1/2001 12:00:00 AM
Firstpage
450
Lastpage
454
Abstract
This note considers the tracking problem of nonholonomic dynamic systems with unknown inertia parameters. A new controller is proposed relying on newly defined tracking errors and the passivity property of the nonholonomic dynamic system. The proposed controller ensures that the entire state of the system asymptotically tracks the desired trajectory. Simulation results show effectiveness of the proposed controller
Keywords
adaptive control; tracking; uncertain systems; adaptive tracking control; defined tracking errors; passivity property; trajectory tracking; uncertain nonholonomic dynamic system; unknown inertia parameters; Adaptive control; Automatic control; Control systems; Error correction; Kinematics; Nonlinear control systems; Programmable control; Trajectory; Uncertainty; Velocity control;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.911421
Filename
911421
Link To Document