Robust adaptive motion control of uncertain nonholonomic mechanical systems including actuator dynamics

Author

Anupoju, Chandra Modi ; Su, Chun-Yi ; Oya, Masahiro

Author_Institution

Dept. of Mech. Eng., Concordia Univ., Montreal, Que., Canada

Volume

4

fYear

2004

fDate

April 26-May 1, 2004

Firstpage

3525

Abstract

This paper addresses the design of position tracking control of mechanical systems with classical nonholonomic constraints incorporating actuator dynamics. A robust adaptive controller is designed at the actuator level and the controller guarantees that the configuration state of the system tracks the desired trajectory. A detailed numerical example is presented to illustrate the developed method.

Keywords

actuators; adaptive control; control system synthesis; mobile robots; motion control; position control; robot dynamics; robust control; uncertain systems; actuator dynamics; configuration state; nonholonomic constraints; position tracking control; robust adaptive controller design; robust adaptive motion control; trajectory tracking; uncertain nonholonomic mechanical systems; Actuators; Adaptive control; Control systems; Kinematics; Mechanical systems; Motion control; Programmable control; Robust control; Torque control; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1308799

Filename

1308799