Distributed Tracking Control of Multiple Nonholonomic Mechanical Systems with Non-ideal Nonholonomic Constraints

Abstract

This report considers the tracking control problems of multiple nonholonomic mechanical systems with nonidealnonholonomic constraints. For different nonlinear systems with uncertainty, distributed tracking controllers areproposed such that the states of a group of systems converge to the state of a leader system with the aid ofneighbors information. In order to propose distributed control laws, different techniques are applied. To show theeffectiveness of the proposed controllers, simulation has been done.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2011
Accession Number
AD1194814

Entities

People

  • Wenjie Dong

Organizations

  • University of Texas Rio Grande Valley

Tags

DTIC Thesaurus Topics

  • Algorithms
  • Applied Mathematics
  • Closed Loop Systems
  • Consensus Algorithms
  • Control Systems
  • Control Theory
  • Cooperative Control
  • Dynamics
  • Equations
  • Estimators
  • Linear Systems
  • Military Applications
  • Multiagent Systems
  • Nonlinear Systems
  • Robotics
  • Topology
  • Trajectories

Fields of Study

  • Engineering

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.