Adaptive tracking control for nonholonomic Caplygin systems

Author

Chang, Yeong-Chan ; Chen, Bor-Sen

Author_Institution

Dept. of Electr. Eng., Kun-Shan Univ. of Technol., Tainan Hsien, Taiwan

Volume

10

Issue

1

fYear

2002

fDate

1/1/2002 12:00:00 AM

Firstpage

96

Lastpage

104

Abstract

This paper addresses the problem of designing adaptive tracking controls for nonholonomic Caplygin systems involving plant uncertainties and external disturbances. Both dynamic state (position and velocity) feedback as well as output (position) feedback tracking control laws are constructed to assure the tracking of the generalized coordinates. It is shown that the generalized coordinates asymptotically converge to a desired manifold in terms of L_∞ bound and H^∞ performance. Finally, simulation examples are presented to illustrate the tracking performance of the developed adaptive control algorithms

Keywords

H^∞ control; adaptive control; nonlinear systems; position control; state feedback; tracking; uncertain systems; velocity control; Caplygin systems; H_∞ control; adaptive control; feedback; nonholonomic systems; position control; tracking; uncertain systems; velocity control; Adaptive control; Constraint theory; Control design; Control systems; Equations; Mechanical systems; Output feedback; Programmable control; State feedback; Uncertainty;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/87.974342

Filename

974342