Adaptive tracking control for nonholonomic mechanical systems with rheonomous affine kinematic model constraints

摘要

In the last decades, the nonholonomic control systems have attracted lots of interest, but little has been done in the nonholonomic control systems with rheonomous affine kinematic model constraints. In this paper, we structure the nonlinear control systems of the nonholonomic control systems with rheonomous affine kinematic model constraints for the first time, and propose an adaptive control system for the tracking control of the nonholonomic control systems with rheonomous affine kinematic model constraints. Finally, a numerical example is provided to demonstrate the potential and effectiveness of the method.