Model Reference Variable Structure Control for Non-Holonomic Mechanical Control Sysytems
Guo Qingfu
Guo Shujuan
Wen Xiangcai
Liu Yongqing
Abstract：A variable structure model reference tracking controller for non-holonomic mechanical systems is designed under parametric perturbation and external disturbance.A design procedure with three-stage control is developed to solve the tracking problem for perturbed non-holonomic mechanical control systems based on a proper matrix decomposition,the concept of input/output decoupling in nonlinear control theory,and the theory of variable structure control.Finally,a typical non-holonomic example -- a vertical wheel moving on a given plane -- is given with computer simulation to illustrate the significant advantage of the proposed method.
Keywords：non-holonomic mechanical systemdecouplingtrackingvariable stucture control
Publication Date：1999-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 385-389 )