Abstract
A tracking control design is proposed for both holonomic and non-holonomic constrained mechanical systems from a unified viewpoint. It will be shown that, according to the number of control inputs, if the state variables are available and the output variables are chosen properly, then the exponentially global tracking of positions and constraint forces on the constraint manifold is achieved for holonomic control systems by a static state feedback controller. From the same point of view, for non-holonomic control systems, the globally exponential tracking of positions is achieved by just a dynamic state feedback controller. Finally, by means of much discussion and many simulations, two typical non-holonomic examples— edge and a vertical wheel—are given to illustrate the essential features of the proposed design method.
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