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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.
Control Theory and Applications, IEE Proceedings - (Volume:152 , Issue: 5 )
Date of Publication: 9 Sept. 2005