Robust adaptive motion/force control of uncertain nonholonomic mechanical systems

Author

Su, Chun-Yi ; Oya, Masahiro ; Katoh, Ryozo

Author_Institution

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

Volume

4

fYear

2001

fDate

2001

Firstpage

3268

Abstract

The position/force tracking control of Lagrangian mechanical systems with classical nonholonomic constraints is addressed. The main feature of the paper is that: 1) the control strategy is developed at the dynamic level and can deal with model uncertainties in the mechanical systems; 2) the proposed control law ensures the desired trajectory tracking of the configuration state of the closed-loop system; 3) the tracking error of the constraint force is uniformly ultimately bounded with a controllable bound; and 4) a global asymptotic stability result is obtained in the Lyapunov sense. A detailed numerical example is presented to illustrate the developed method

Keywords

Lyapunov methods; adaptive control; asymptotic stability; closed loop systems; force control; mobile robots; motion control; position control; robust control; uncertain systems; Lagrangian mechanical systems; classical nonholonomic constraints; closed-loop system; control strategy; controllable bound; global asymptotic stability; model uncertainties; robust adaptive motion/force control; tracking error; trajectory tracking; uncertain nonholonomic mechanical systems; Adaptive control; Control systems; Error correction; Force control; Lagrangian functions; Mechanical systems; Programmable control; Robust control; Trajectory; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2001. Proceedings of the 2001

Conference_Location

Arlington, VA

ISSN

0743-1619

Print_ISBN

0-7803-6495-3

Type

conf

DOI

10.1109/ACC.2001.946426

Filename

946426