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 |
Y. Q. Wu, B. Wang, G. D. Zong. Finite-time tracking controller design for nonholonomic systems with extended chained form. IEEE Transactions on Circuits and Systems II: Express Briefs, vol. 52, no. 11, pp. 798-802, 2005.
|
X. Y. Zheng, Y. Q. Wu. Adaptive output feedback stabilization for nonholonomic systems with strong nonlinear drifts. Nonlinear Analysis: Theory, Methods and Applications, vol. 70, no. 2, pp. 904-920, 2009.
|
Y. C. Chang, B. S. Chen. Robust tracking designs for both holonomic and nonholonomic constrained mechanical systems: Adaptive fuzzy approach. IEEE Transactions on Fuzzy Systems, vol. 8, no. 1, pp. 46-66, 2000.
|
W. J. Dong, W. L. Xu, W. Huo. Trajectory tracking control of dynamic non-holonomic systems with unknown dynamics. International Journal of Robust and Nonlinear Control, vol. 9, no. 13, pp. 905-922, 1999.
|
Y. Zhao, J. B. Yu, Y. Q. Wu. State-feedback stabilization for a class of more general high order stochastic nonholonomic systems. International Journal of Adaptive Control and Signal Processing, vol. 25, no. 8, pp. 687-706, 2011.
|
T. Fukao, H. Nakagawa, N. Adachi. Adaptive tracking control of a nonholonomic mobile robot. IEEE Transactions on Robotics and Automation, vol. 16, no. 5, pp. 609-615, 2000.
|
G. L. Ju, Y. Q. Wu, W. H. Sun. Adaptive output feedback asymptotic stabilization of nonholonomic systems with uncertainties. Nonlinear Analysis: Theory, Methods and Applications, vol. 71, no. 11, pp. 5106-5117, 2009.
|
Z. P. Wang, S. S. Ge, T. H. Lee. Robust motion/force control of uncertain holonomic/nonholonomic mechanical systems. IEEE Transactions on Mechatronics, vol. 9, no. 1, pp. 118-123, 2004.
|
Z. J. Li, Y. N. Zhang. Robust adaptive motion/force control for wheeled inverted pendulums. Automatica, vol. 46, no. 8, pp. 1346-1353, 2010.
|
W. J. Dong. On trajectory and force tracking control of constrained mobile manipulators with parameter dynamic. Automatica, vol. 38, no. 9, pp. 1475-1484, 2002.
|
Z. J. Li, S. S. Ge, M. Adams. Adaptive robust outputfeedback motion/force control of electrically driven nonholonomic mobile manipulators. IEEE Transactions on Control Systems Technology, vol. 16, no. 6, pp. 1308-1315, 2008.
|
W. J. Dong, W. L. Xu. Adaptive tracking control of uncertain nonholonomic dynamic system. IEEE Transactions on Automatic Control, vol. 46, no. 3, pp. 450-454, 2001.
|
W. J. Dong, K. D. Kuhnert. Robust adaptive control of nonholonomic mobile robot with parameter and nonparameter uncertainties. IEEE Transactions on Robotics, vol. 21, no. 2, pp. 261-266, 2005.
|
M. Oya, C. Y. Su, R. Katoh. Robust adaptive motion/force tracking control of uncertain nonholonomic mechanical systems. IEEE Transactions on Automatic Control, vol. 19, no. 1, pp. 175-181, 2003.
|
T. Kai. Modeling and passivity analysis of nonholonomic Hamiltonian systems with rheonomous affine constraints. Communications in Nonlinear Science and Numerical Simulation, vol. 17, no. 8, pp. 3446-3460, 2012.
|
T. Kai, H. Kimura, S. Hara. Nonlinear control analysis on nonholonomic dynamic systems with affine constraints. In Proceedings of the 44th IEEE Conference on Decision and Control and 2005 European Control Conference, IEEE, Seville, Spain, pp. 1459-1464, 2005.
|
T. Kai. Mathematical modelling and theoretical analysis of nonholonomic kinematic systems with a class of rheonomous affine constraints. Applied Mathematical Modelling, vol. 36, no. 7, pp. 3189-3200, 2012.
|
B. Xian, D. M. Dawson, M. S. de Queiroz, J. Chen. A continuous asymptotic tracking control strategy for uncertain multi-input nonlinear systems. IEEE Transactions on Automatic Control, vol. 49, no. 7, pp. 1206-1211, 2004.
|
C. Makkar, G. Hu, W. G. Sawyer, W. E. Dixon. Lyapunovbased tracking control in the presence of uncertain nonlinear parameterizable friction. IEEE Transactions on Automatic Control, vol. 52, no. 10, pp. 1988-1994, 2007.
|
P. M. Patre, W. MacKunis, K. Dupree, W. E. Dixon. Modular adaptive control of uncertain euler-lagrange systems with additive disturbances. IEEE Transactions on Automatic Control, vol. 56, no. 1, pp. 155-160, 2011.
|
S. S. Ge, T. H. Lee, C. J. Harris. Adaptive Neural Network Control of Robust Manipulators, Singapore: Word Scientific, 1998.
|
H. K. Khalil. Nonlinear Systems, 3rd ed., New Jersey: Prentice Hall, 2002.
|
1. | Juan Li, Lejun Wang, Zhen Chen, et al. Drift Suppression Control Based on Online Intelligent Optimization for Planar Underactuated Manipulator With Passive Middle Joint. IEEE Access, 2021, 9: 38611. DOI:10.1109/ACCESS.2021.3064336 |
2. | Ammar Touati Brahim, Madjid Kidouche. A Constructive Globally Convergent Adaptive Speed Observer For Port‐Hamiltonian Mechanical Systems with Non‐Holonomic Constraints. Asian Journal of Control, 2019, 21(2): 965. DOI:10.1002/asjc.1794 |
3. | Ali Alouache, Qinghe Wu. Fuzzy logic PD controller for trajectory tracking of an autonomous differential drive mobile robot (i.e. Quanser Qbot). Industrial Robot: An International Journal, 2018, 45(1): 23. DOI:10.1108/IR-07-2017-0128 |
4. | Wei Sun, Wen-Xing Yuan, Yu-Qiang Wu. Adaptive Tracking Control of Mobile Manipulators with Affine Constraints and Under-actuated Joints. International Journal of Automation and Computing, 2018, 15(6): 728. DOI:10.1007/s11633-015-0934-6 |
5. | Robin Chhabra, M. Reza Emami, Yael Karshon. Reduction of Hamiltonian Mechanical Systems With Affine Constraints: A Geometric Unification. Journal of Computational and Nonlinear Dynamics, 2017, 12(2) DOI:10.1115/1.4034729 |
6. | Zhongcai Zhang, Yuqiang Wu. Adaptive motion and force tracking control for nonholonomic dynamic systems subject to affine constraints. Transactions of the Institute of Measurement and Control, 2016, 38(4): 482. DOI:10.1177/0142331215572419 |
7. | Yu-Qiang Wu, Cheng-Long Zhu, Zhong-Cai Zhang. Finite-time stabilization of a general class of nonholonomic dynamic systems via terminal sliding mode. International Journal of Automation and Computing, 2016, 13(6): 585. DOI:10.1007/s11633-015-0931-9 |
8. | Chih-Chiang Cheng, Cheng-Yun Chu. Design of Adaptive Variable Structure Tracking Controllers for a Class of Systems with Nonholonomic Constraints. 2018 37th Chinese Control Conference (CCC), DOI:10.23919/ChiCC.2018.8482635 |
9. | Ali Alouache, Qinghe Wu. Genetic Algorithms for Trajectory Tracking of Mobile Robot Based on PID Controller. 2018 IEEE 14th International Conference on Intelligent Computer Communication and Processing (ICCP), DOI:10.1109/ICCP.2018.8516587 |