关键词: 非完整系统, 不确定系统, 鲁棒控制, 欠驱动系统控制

Abstract:

This paper considers the tracking control problem of underactuated nonholonomic mechanical systems with uncertainty. New robust controllers are proposed with the aid of newly proposed tracking errors. The proposed controllers not only are robust with respect to the parameter uncertainty but also ensure the tracking error to asymptotically tend to zero. In order to show effectiveness of the proposed results,the tracking control of a simple nonholonomic mobile robot is discussed. Simulations verify effectiveness of the proposed results.

Key words: nonholonomic system, uncertain system, r obust contr ol, under actuated syst em