Adaptive control of mechanical systems with classical nonholonomic constraints

The position/force control of mechanical systems subject to a set of classical nonholonomic constraints represents an important class of control problems. In this paper a reduced dynamic model, suitable for simultaneous independent motion and force control, is developed by exploiting the physical structure of the systems. Some properties of the dynamic model are obtained to facilitate the controller design. An adaptive control algorithm is therefore derived. Stability analysis shows the stabilization of the manifold.