Application of the Udwadia–Kalaba approach to tracking control of mobile robots

Udwadia–Kalaba approach which presents a new, general and explicit equation of motion for constrained mechanical systems with holonomic or nonholonomic constraints is applied to the trajectory tracking control of the mobile robot in this paper. Unlike any other nonlinear control methods, the inspira...

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Veröffentlicht in:	Nonlinear dynamics 2016, Vol.83 (1-2), p.389-400
Hauptverfasser:	Sun, Hao, Zhao, Han, Zhen, Shengchao, Huang, Kang, Zhao, Fumin, Chen, Xianmin, Chen, Ye-Hwa
Format:	Artikel
Sprache:	eng
Schlagworte:	Automotive Engineering Classical Mechanics Computer simulation Constraints Control Control methods Dynamical Systems Engineering Equations of motion Exact solutions Mathematical analysis Mathematical models Mechanical Engineering Mechanical systems Nonlinear control Nonlinear dynamics Original Paper Robot control Robots Tracking control Trajectories Trajectory control Vibration
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