Wei Sun, Yu-Qiang Wu and Zong-Yao Sun. Tracking Control Design for Nonholonomic Mechanical Systems with Affine Constraints. International Journal of Automation and Computing, vol. 11, no. 3, pp. 328-333, 2014. DOI: 10.1007/s11633-014-0796-3
Citation: Wei Sun, Yu-Qiang Wu and Zong-Yao Sun. Tracking Control Design for Nonholonomic Mechanical Systems with Affine Constraints. International Journal of Automation and Computing, vol. 11, no. 3, pp. 328-333, 2014. DOI: 10.1007/s11633-014-0796-3

Tracking Control Design for Nonholonomic Mechanical Systems with Affine Constraints

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This work was supported by National Natural Science Foundation of China (Nos. 61273091, 61004013 and 61304059), Ph. D. Programs Foundation of Ministry of Education of China, and Fundamental Research Funds for the Central Universities (No. CXLX12 0096).

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  • Received Date: December 04, 2013
  • Revised Date: October 27, 2013
  • The trajectory tracking control is considered for nonholonomic mechanical systems with affine constraints and dynamic friction. A new state transformation is proposed to deal with affine constraints, and then an integral feedback compensation strategy is used to identify the dynamic friction. The proposed controller ensures that the output tracking errors converge to zero as t→∞. As an application, a detailed example is presented to illustrate the effectiveness of the control scheme.
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