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• W16048635 abstract "In this paper, the trajectory tracking control problem of uncertain nonholonomic mechan- ical systems is investigated. By separately consider- ing kinematic and dynamic models of a nonholonomic mechanical system, a new adaptive tracking control is proposed based on neural network approximation. The proposed design consists of two steps. First, the nonholonomic kinematic subsystem is transformed into a chained form, and the corresponding optimal control is derived. Second, an adaptive neural con- trol is designed for the dynamic subsystem to make the outputs of the dynamic subsystem asymptotically track the optimal control signals chosen for the kine- matic subsystem. The proposed control is simulated on a unicycle wheeled mobile robot." @default.
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• W16048635 date "2009-01-01" @default.
• W16048635 modified "2023-09-23" @default.
• W16048635 title "APPROXIMATION BASED ADAPTIVE TRACKING CONTROL OF UNCERTAIN NONHOLONOMIC MECHANICAL SYSTEMS" @default.
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• W16048635 doi "https://doi.org/10.2316/journal.201.2009.4.201-2048" @default.
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