APPROXIMATION BASED ADAPTIVE TRACKING CONTROL OF UNCERTAIN NONHOLONOMIC MECHANICAL SYSTEMS

J. Wang,∗ Z. Qu,∗∗ M.S. Obeng,∗ and X. Wu∗

References

  1. [1] I. Kolmanovsky & N.H. McClamroch, Developments in nonholonomic control problems, IEEE Control System Magazine, 15, 1995, 20–36.
  2. [2] P. Morin & C. Samson, Motion control of wheeled mobile robots, B. Siciliano & O. Khatib (Eds.), Handbook of Robotics, (New York: Springer-Verlag, 2008), 799–826.
  3. [3] R.W. Brockett, Asymptotic stability and feedback stabilization, in R.W. Brockett, R.S. Millman & H.J. Sussmann (Eds.), Differential Geometric Control Theory, (Boston, MA: Birkhauser Verlag), 1983, 181–191.
  4. [4] J. Guldner & V.I. Utkin, Stabilization of nonholonomic mobile robots using lyapunov function for navigation and sliding mode control, in Proc. of the 33rd IEEE Conf. on Decision and Control, 1994, 2967–2972.
  5. [5] A. Astolfi, On the stabilization of nonholonomic systems, in Proc. of the 33rd IEEE Conf. on Decision and Control., 1994, 3481–3486.
  6. [6] C. Samson, Time-varying feedback stabilization of a nonholonomic wheeled mobile robot, International Journal of Robotics Research, 12, 1993, 55–66.
  7. [7] O.J. Sordalen, Exponential stabilization of nonholonomic chained systems, IEEE Transaction on Automatic Control, 40, 1995, 35–49.
  8. [8] Z.P. Jiang & H. Nijmeijer, A recursive technique for tracking control of nonholonomic systems in chained form, IEEE Transaction on Automatic Control, 44 , 1999, 265–279.
  9. [9] Y. Kanayama, Y. Kimura, F. Miyazaki, & T. Noguchi, A stable tracking control method for an autonomous mobile robot, in Proc. IEEE Conf. on Robotics Automation, Sacramento, CA, 1990, 384–389.
  10. [10] E. Lefeber, A. Robertsson, & H. Nijmeijer, Linear controllers for exponential tracking of systems in chained form, International Journal of Robust and Nonlinear Control, 10, 2000, 243–263.
  11. [11] M. Krstic, I. Kanellakopoulos, & P.V. Kokotovic, Nonlinear and Adaptive Control Design New York: Wiley, 1995.
  12. [12] R. Fierro and F.L. Lewis, Control of a nonholonomic mobile robot using neural networks, IEEE Transactions on Neural Networks, 9, 1998, 589–600.
  13. [13] C.Y. Su & Y. Stepanenko, Robust motion/force control of mechanical systems with classical nonholonomic constraints, IEEE Transactions on Automatic Control, 39, 1994, 609–614.
  14. [14] W. Dong & W.L. Xu, Adaptive tracking control of uncertain nonholonomic dynamic system, IEEE Transactions on Automa. Contr., 46, 2001, 450–454.
  15. [15] P. Morin & C. Samson, Control of nonholonomic mobile robots based on the transverse function approach, IEEE Transactions on Robotics, 48(9), 2003, 1496–1508.
  16. [16] Z. Qu, J. Wang, C.E. Plaisted, & R.A. Hull, A globalstabilizing near-optimal control design for real-time trajectory tracking and regulation of nonholonomic chained systems, IEEE Transactions on Automatic Control, 51, 2006, 1440– 1456.
  17. [17] A. Bloch & S. Drakunov, Stabilization and tracking in the nonholonomic integrator via sliding modes, System and control letter, 29, 1996, 91–99.
  18. [18] R.M. Murray & S.S. Sastry, Nonholonomic motion planning: Steering using sinusoids, IEEE Transaction on Automatic Control, 38, 1993, 700–716.
  19. [19] F.L. Lewis, C.T. Abdallah, & D.M. Dawson, Control of Robot Manipulators, (New York: Macmillan, 1993).
  20. [20] M. Reyhanoglu, A. Bloch, & N.H. McClamroch, Control and stabilization of nonholonomic dynamic systems, IEEE Transaction on Automatic Control, 37, 1992, 1746–1757.
  21. [21] G.C. Walsh & L.G. Bushnell, Stabilization of multiple input chained form control systems, System and Control Letters, 25(3), 1995, 227–234.
  22. [22] S.S. Ge, C.C. Hang, T.H. Lee, & T. Zhang, Stable Adaptive Neural Network Control Norwell, USA: (Kluwer Academic Publisher 2001).
  23. [23] R.M. Sanner & J.E. Slotine, Gaussian networks for direct adaptive control, IEEE Transaction on Neural Networks, 3, 1992, 837–863.
  24. [24] E.B. Kosmatopoulos, M.M. Polycarpou, M.A. Christodoulou, & P.A. Ioannou, High-order neural network structures for identification of dynamical systems, IEEE Transaction on Neural Networks, 6, 1995, 422–431.
  25. [25] L.X. Wang, Adaptive Fuzzy Systems and Control: Design and Analysis (Englewood Cliffs, NJ: Prentice-Hall, 1994). 210

Important Links:

Go Back