Abstract
This paper is devoted to the problem of modeling and trajectory tracking for stochastic nonholonomic dynamic systems in the presence of unknown parameters. Prior to tracking controller design, the rigorous derivation of stochastic nonholonomic dynamic model is given. By reasonably introducing so-called internal state vector, a reduced dynamic model, which is suitable for control design, is proposed. Based on the backstepping technique in vector form, an adaptive tracking controller is then derived, guaranteeing that the mean square of the tracking error converges to an arbitrarily small neighborhood of zero by tuning design parameters. The efficiency of the controller is demonstrated by a mechanics system: a vertical mobile wheel in random vibration environment.
Highlights
Nonholonomic systems have been widely accepted as ones that are subject to nonintegrable constraints and whose behaviors must comply with the constraints [16]
We propose a class of stochastic dynamic nonholonomic systems to describe the motion of nonholonomic systems subject to random disturbances
The issue of modeling and adaptive tracking control has been addressed for a class of nonholonomic mechanical systems under stochastic disturbances
Summary
Nonholonomic systems have been widely accepted as ones that are subject to nonintegrable constraints and whose behaviors must comply with the constraints [16]. Thanks to the presence of [21], which designed the state feedback controller for a class of nonholonomic systems with stochastic disturbances, the stabilization problem had been extensively studied for stochastic nonholonomic at kinematic level. Since nonlinear parameters are commonly existing components in many practical control systems, [8] considered the problem of adaptive stabilization by state feedback for stochastic nonholonomic systems with nonlinear parameterization. We consider the modeling and dynamic tracking problems for nonholonomic systems in the presence of stochastic disturbances. The dynamic model for nonholonomic systems in random vibration environment is given. We propose a class of stochastic dynamic nonholonomic systems to describe the motion of nonholonomic systems subject to random disturbances. Sometimes the arguments of functions are dropped when no confusion arises
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
