Title :
Adaptive tracking control of uncertain nonholonomic dynamic system
Author :
Dong, Wenjie ; Xu, W.L.
Author_Institution :
Dept. of Autom., Tsinghua Univ., Beijing, China
fDate :
3/1/2001 12:00:00 AM
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;
Journal_Title :
Automatic Control, IEEE Transactions on
