This note considers the tracking problem of nonholonomic dynamic systems with unknown inertia parameters. A new controller is proposed relying on newly defined tracking errors and the passivity property of the nonholonomic dynamic system. The proposed controller ensures that the entire state of the system asymptotically tracks the desired trajectory. Simulation results show effectiveness of the proposed controller.
No takes yet. Share an insight, caveat, or question.
Dong et al. (2001) studied this question.
Synapse has enriched 4 closely related papers on similar clinical questions. Consider them for comparative context: