Robust adaptive motion/force tracking control of uncertain nonholonomic mechanical systems

IEEE Transactions on Robotics and Automation

Volumn 19, Issue 1, 2003, Pages 175-181

  Oya, Masahiro ^a   Su, Chun Yi ^b   Katoh, Ryozo ^a  

^a KYUSHU INSTITUTE OF TECHNOLOGY   (Japan)

^b Gina Cody School of Engineering and Computer Science   (Canada)

Author keywords

Adaptive control; Mechanical systems; Motion force control; Nonholonomic constraints; Robust control; Tracking control; Uncertainties

Indexed keywords

ASYMPTOTIC STABILITY; CLOSED LOOP CONTROL SYSTEMS; COMPUTER SIMULATION; FORCE CONTROL; KINEMATICS; LAGRANGE MULTIPLIERS; LYAPUNOV METHODS; MOTION CONTROL; NONLINEAR CONTROL SYSTEMS; POSITION CONTROL; ROBUSTNESS (CONTROL SYSTEMS); UNCERTAIN SYSTEMS;

LAGRANGIAN MECHANICAL SYSTEM; MOTION-FORCE TRACKING CONTROL; UNCERTAIN NONHOLONOMIC MECHANICAL SYSTEMS;

ADAPTIVE CONTROL SYSTEMS;

EID: 0037326125     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRA.2002.807528     Document Type: Article

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