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Robust Tracking Control of Nonholonomic Systems  

Yang Jung-Min (대구가톨릭대 전자공학과)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers D / v.52, no.1, 2003 , pp. 31-37 More about this Journal
Abstract
A robust tracking control for nonholonomic dynamic systems is proposed in this paper. Since nonholonomic dynamic systems have constraints imposed on motions that are not integrable, i.e., the constraints cannot be written as time derivatives of some functions of generalized coordinates, advanced techniques are needed for their control. It is shown that if the state of nonholonomic systems is mapped into a bounded space by a coordinate transformation, a robust controller for dynamic models of nonholonomic systems with input disturbances can be designed using sliding mode control. Stability and robustness of the proposed controller are proved in the Lyapunov sense. Numerical simulations on the trajectory tracking of a two-wheeled mobile robot are conducted to validate the effectiveness of the proposed controller.
Keywords
nonholonomic dynamic systems; robust control; coordinate transformation; mobile rob;
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