Adaptive Motion Control of Nonholonomic Intelligent Walker-Human Systems
نویسندگان
چکیده
منابع مشابه
Adaptive Optimal Dynamic Control for Nonholonomic Systems
In this paper two different control methods are combined for controlling a typical nonholonomic device (a bicycle) the dynamic model and parameters of which are only approximately known. Most of such devices suffer from the problem that the time-derivatives of the coordinates of their location and orientation cannot independently be set so an arbitrarily prescribed trajectory cannot precisely b...
متن کاملAdaptive Motion Tracking Control of Uncertain Nonholonomic Mechanical Systems with Motor Dynamics
This paper addresses the design of position tracking control of mechanical systems with classical nonholonomic constraints incorporating actuator dynamics. An adaptive controller is designed at the actuator level and the controller guarantees that the configuration state of the system tracks the desired trajectory. A detailed numerical example is presented to illustrate the developed method.
متن کاملRobust adaptive motion/force tracking control of uncertain nonholonomic mechanical systems
The position/force tracking control of Lagrangian mechanical systems with classical nonholonomic constraints is addressed in this paper. The main feature of this paper is that 1) 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 ...
متن کاملAdaptive motion / force control of nonholonomic mechanical systems with affine constraints ∗
Abstract. The motion/force tracking control of nonholonomic mechanical systems with affine constraints is investigated in this paper. In the procedure of control design, by flexibly using the algebra processing technique, constraint forces are successfully canceled in the dynamic equations, and then an integral feedback compensation strategy and an adaptive scheme are applied to identify the dy...
متن کاملMotion Planning of nonholonomic systems with Tracking Control Lyapunov Function
A common approach to motion planning of robots and vehicles involves finding suitable trajectories for the positions of each configuration variable, and then using feedback to regulate the system to these trajectories. However, when the system has less actuator than dynamical degrees of freedom, it is not always possible to do this arbitrarily. In this paper a tracking control Lyapunov function...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2016
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2016.07.982