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Trajectory tracking control of dynamic non‐holonomic systems with unknown dynamics
Author(s) -
Dong Wenjie,
Liang Xu Wei,
Huo Wei
Publication year - 1999
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/(sici)1099-1239(199911)9:13<905::aid-rnc443>3.0.co;2-1
Subject(s) - holonomic , trajectory , control theory (sociology) , tracking (education) , computer science , dimension (graph theory) , mobile robot , holonomic constraints , track (disk drive) , control (management) , control engineering , robot , mathematics , artificial intelligence , engineering , psychology , pedagogy , physics , classical mechanics , astronomy , pure mathematics , operating system
Trajectory tracking control of the non‐holonomic system has attracted lots of interest recently, but little has been done in the tracking problem of the uncertain dynamic non‐holonomic systems. The paper deals with the trajectory tracking problem of the dynamic non‐holonomic systems with unknown dynamics. New adaptive robust controllers are proposed for globally tracking problem. The controllers of low dimension and no singular points can make the configuration state asymptotically track the desired trajectory. An application to a wheeled mobile robot is presented, and the effectiveness of the approach is verified by simulation. Copyright © 1999 John Wiley & Sons, Ltd.