By Topic

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

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $33
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

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

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.

Published in:

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