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• W4312600246 abstract "This paper presents an adaptive tracking controller for the uncertain mechanical system (UMS) subjects to both holonomic and non-holonomic servo constraints. The UMS may suffer the 1st-order nonholonomic constraint-following error (CFE), the 0-order and 1st-order holonomic CFEs, which are caused possibly by measurement uncertainties, unmodeled dynamics, etc. Previous works often neglect the 0-order holonomic CFE in their constraint-following controllers, which may cause instability when such CFE exists. We define a unified CFE involving all three-type CFEs in this paper, a unified adaptive robust controller (UARC) based on the unified CFE is then proposed for the UMS. In order to demonstrate our UARC, we provide both a Lyapunov stability-based proof and an inverted pendulum robot (IPR)-based simulation." @default.
• W4312600246 created "2023-01-05" @default.
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• W4312600246 date "2022-07-09" @default.
• W4312600246 modified "2023-10-16" @default.
• W4312600246 title "Adaptive Tracking Control for Uncertain Mechanical Systems under Servo Non-holonomic Constraints" @default.
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• W4312600246 doi "https://doi.org/10.1109/icarm54641.2022.9959325" @default.
• W4312600246 hasPublicationYear "2022" @default.
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