Robust motion tracking control of partially nonholonomic mechanical systems

2006 ◽  
Vol 54 (4) ◽  
pp. 332-341 ◽  
Author(s):  
Jian Wang ◽  
Xiangyang Zhu ◽  
Masahiro Oya ◽  
Chun-Yi Su
Keyword(s):  
Tracking Control ◽  
Motion Tracking ◽  
Mechanical Systems ◽  
Nonholonomic Mechanical Systems

scholarly journals Adaptive Sliding-Mode Tracking Control for a Class of Nonholonomic Mechanical Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Wei Sun
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Mechanical Systems ◽  
Terminal Sliding Mode ◽  
Nonholonomic Mechanical Systems ◽  
Affine Constraints ◽  
Control Scheme ◽  
Mode Tracking

This paper investigates the problem of finite-time tracking control for nonholonomic mechanical systems with affine constraints. The control scheme is provided by flexibly incorporating terminal sliding-mode control with the method of relay switching control and related adaptive technique. The proposed relay switching controller ensures that the output tracking error converges to zero in a finite time. As an application, a boat on a running river is given to show the effectiveness of the control scheme.

Motion/force tracking control of nonholonomic mechanical systems via combining cascaded design and backstepping

Automatica ◽  
2013 ◽  
Vol 49 (12) ◽  
pp. 3682-3686 ◽  
Author(s):  
Jun Fu ◽  
Tianyou Chai ◽  
Chun-Yi Su ◽  
Ying Jin
Keyword(s):  
Tracking Control ◽  
Mechanical Systems ◽  
Nonholonomic Mechanical Systems ◽  
Force Tracking
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