Adaptive tracking control of uncertain nonholonomic dynamic system
نویسندگان
چکیده
This note considers the tracking problem of nonholonomic dynamic systems with unknown inertia parameters. A new controller is proposed relying on newly defined tracking errors and the passivity property of the nonholonomic dynamic system. The proposed controller ensures that the entire state of the system asymptotically tracks the desired trajectory. Simulation results show effectiveness of the proposed controller.
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ورودعنوان ژورنال:
- IEEE Trans. Automat. Contr.
دوره 46 شماره
صفحات -
تاریخ انتشار 2001