Constraint Control of Nonholonomic Mechanical Systems
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DOI: 10.1007/s00332-017-9406-1
Abstract: We derive an optimal control formulation for a nonholonomic mechanical system using the nonholonomic constraint itself as the control. We focus on Suslov’s problem, which is defined as the motion of a rigid body with… read more here.
Keywords: nonholonomic mechanical; control; control nonholonomic; mechanical systems ... See more keywords
Approximation-Free Tracking Error Constraint Control for Lagrangian Systems
Sign Up to like & getrecommendations! Published in 2017 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2016.2613990
Abstract: This paper proposes an approximation-free adaptive tracking error constraint control scheme for unknown Lagrangian systems. A transformed filtered tracking error surface has been constructed to guarantee the transient and steady-state performance of the position control… read more here.
Keywords: tracking error; control; lagrangian systems; constraint control ... See more keywords