RESUMEN
This paper presents a novel robust control design for a class of home pension service mobile robots (HPSMRs) with non-holonomic passive constraints, based on the Udwadia-Kalaba theory and Udwadia control. The approach has two portions: dynamics modeling and robust control design. The Udwadia-Kalaba theory is employed to deal with the non-holonomic passive constraints. The frame of the Udwadia control is employed to design the robust control to tracking the servo constraints. The designed approach is easy to implement because the analytical solution of the control force can explicitly be obtained even if the non-holonomic passive constraints exists. The uniform boundedness and uniform ultimate boundedness are demonstrated by the theoretical analysis. The effectiveness of the proposed approach is verified through the numerical simulation by a HPSMR.
RESUMEN
In this research, to achieve the altitude and attitude tracking control of an underactuated quadrotor UAV with mismatched uncertainties, based upon Udwadia-Kalaba theory, a novel adaptive robust tracking control approach is proposed and which will be designed in two steps. First, aiming at the uncertain and underactuated quadrotor UAV, regardless of initial constraint deviation and mismatched uncertainties, a nominal control is constructed through transforming the desired trajectories into corresponding servo constraints; second, for the mismatched uncertainties, we decompose them into two parts, i.e. the matched part and mismatched part, and the mismatched part will "vanish" during the stability analysis of proposed adaptive robust controller. Eventually, with such a decomposition technique, the large mismatched uncertainties can be addressed properly and the burden of controller design will be reduced to a certain degree. In addition, two deterministic robust control performances are also guaranteed by our proposed approach. The simulation results have shown a good robustness and tracking precision of our proposed scheme for quadrotor UAV.