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Adaptive motio tracking control of uncertai nonholonomic mechanical systems including actuator dynamics

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3 Author(s)
Anupoju, C.M. ; Dept. of Mech. Eng., Concordia Univ., Montreal, Que., Canada ; Su, C.Y. ; Oya, M.

The desig of positio tracking control of mechanical systems ith classical nonholonomic constraints incorporating actuator dynamics is discussed. A adaptive controller is designed at the actuator level and the controller guarantees that the configuratio state of the system tracks the desired trajectory. A detailed numerical example is presented to illustrate the developed method.

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Control Theory and Applications, IEE Proceedings -  (Volume:152 ,  Issue: 5 )