Control of nonholonomic mechanical systems using reduction and adaptation

  • Authors:

  • R. Colbaugh;E. Barany;M. Trabatti

  • Affiliations:

  • Center for Dynamics, Mechanics and Control, New Mexico State University, Las Cruces, NM 88003 (USA);Center for Dynamics, Mechanics and Control, New Mexico State University, Las Cruces, NM 88003 (USA);Center for Dynamics, Mechanics and Control, New Mexico State University, Las Cruces, NM 88003 (USA)

  • Venue:
  • Robotica
  • Year:
  • 1999

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Abstract

This paper considers the problem of controlling the motion of nonholonomic mechanical systems in the presence of uncertainty regarding the system model and state. It is proposed that a simple and effective solution to this problem can be obtained by first using a reduction procedure to obtain a lower dimensional system which retains the mechanical system structure of the original system, and then adaptively controlling the reduced system in such a way that the complete system is driven to the goal configuration. This approach is shown to be easy to implement and to ensure accurate motion control despite measurement and model uncertainty. The efficacy of the proposed control strategy is illustrated through computer simulations and preliminary hardware experiments with nonholonomic mechanical systems arising from both explicit kinematic constraints and symmetries of the system dynamics.