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 :
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