On the Control Models in the Trajectory Tracking Problem of a Holonomic Mechanical System

Abstract

Studies on the trajectory tracking and stabilization problems of a holonomic mechanical system have numerous applications in the design of the control structure of manipulators, wheeled robots, aircraft, and other technical objects. For all its great importance and relevance, the problem of substantiating a simpler control structure remains the subject of many works. The paper suggests a new control model that solves the trajectory tracking problem. The results are achieved on the basis of the approach and methods previously used by the authors in solving the stabilization problem of a given position and stationary motion of a holonomic mechanical system. The performance of the proposed controller is demonstrated on a five joints robot manipulator.