Trajectory tracking control of dynamic non-holonomic systems with unknown dynamics

摘要

Trajectory tracking control of the non-holonomic system has attracted lots of interest recently, but little has been done in the tracking problem of the uncertain dynamic non-holonomic systems. The paper deals with the trajectory tracking problem of the dynamic non-holonomic systems with unknown dynamics. New adaptive robust controllers are proposed for globally tracking problem. The controllers of low dimension and no singular points can make the configuration state asymptotically track the desired trajectory. An application to a wheeled mobile robot is presented, and the effectiveness of the approach is verified by simulation. Copyright © 1999 John Wiley & Sons, Ltd.