Please use this identifier to cite or link to this item: https://doi.org/10.1109/TMECH.2004.823887
Title: Robust motion/force control of uncertain holonomic/nonholonomic mechanical systems
Authors: Wang, Z.P. 
Ge, S.S. 
Lee, T.H. 
Keywords: Force control
Holonomic
Motion control
Nonholonomic
Robust
Issue Date: Mar-2004
Source: Wang, Z.P.,Ge, S.S.,Lee, T.H. (2004-03). Robust motion/force control of uncertain holonomic/nonholonomic mechanical systems. IEEE/ASME Transactions on Mechatronics 9 (1) : 118-123. ScholarBank@NUS Repository. https://doi.org/10.1109/TMECH.2004.823887
Abstract: In this paper, robust control strategies are presented systematically for both holonomic mechanical systems and a large class of nonholonomic mechanical systems in the presence of uncertainties and disturbances. First, robust control strategies are presented for both kinds of systems using the bounds of system parameters, respectively. Then, adaptive robust control strategies are presented by tuning the parameter estimates online. Proportional plus integral feedback control is used for force control for the benefit of real-time implementation. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance while the constraint force remains bounded.
Source Title: IEEE/ASME Transactions on Mechatronics
URI: http://scholarbank.nus.edu.sg/handle/10635/57305
ISSN: 10834435
DOI: 10.1109/TMECH.2004.823887
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

77
checked on Dec 13, 2017

Page view(s)

20
checked on Dec 8, 2017

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.