Adaptive Tracking Control for Mobile Manipulators with Stochastic Disturbances

被引：0

作者：

SUN Wei ^{[1
,2
]}

XIA Jianwei ^{[1
]}

WU Yuqiang ^{[3
]}

机构：

[1] School of Mathematics Science, Liaocheng University

[2] Key laboratory of Measurement and Control of CSE, Ministry of Education, School of Automation, Southeast University

[3] Institute of Automation, Qufu Normal University

来源：

Journal of Systems Science & Complexity | 2019年 / 32卷 / 05期

关键词：

Holonomic and noholonomic constraints; mobile manipulators; stochastic disturbances; tracking control;

D O I：

暂无

中图分类号：

TP241 [机械手];

学科分类号：

080202 ; 1405 ;

摘要：

This paper investigates adaptive tracking control for mobile manipulators with stochastic disturbances and parametric uncertainties. Based on an appropriate reduced dynamic model and an adaptive law, a controller, which is provided by incorporating stochastic control theory with related adaptive technique, overcomes the problem of over-parametrization. It is shown that the designed state-feedback controllers can guarantee that the mean square of the tracking errors can be made arbitrarily small by choosing suitable design parameters. Simulation studies on the control of 2-DOF mobile manipulator shows the effectiveness of the proposed scheme.

引用

页码：1393 / 1403

页数：11

共 13 条

[1]

Modeling and Finite-Time Tracking Control for Mobile Manipulators with Affine and Holonomic Constraints[J]. SUN Wei,WU Yuqiang. Journal of Systems Science & Complexity. 2016(03)

[2] Adaptive Motion/Force Tracking Control for a Class of Mobile Manipulators [J].

Sun, Wei ;

Wu, Yuqiang .

ASIAN JOURNAL OF CONTROL, 2015, 17 (06) :2409-2416

[3]

Output feedback stabilization for time-delay nonholonomic systems with polynomial conditions[J] . Yu-Qiang Wu,Zhen-Guo Liu. ISA Transactions . 2015

[4] Modelling and adaptive tracking control for flexible joint robots with random noises [J].

Liu, Zhen-Guo ;

Wu, Yu-Qiang .

INTERNATIONAL JOURNAL OF CONTROL, 2014, 87 (12) :2499-2510

[5]

Adaptive fuzzy-based motion generation and control of mobile under-actuated manipulators[J] . Zhijun Li,Chenguang Yang,Chun-Yi Su,Wenjun Ye. Engineering Applications of Artificial Intelligence . 2014

[6] Global asymptotic stability controller of uncertain nonholonomic systems [J].

Wu, Yuqiang ;

Zhao, Yan ;

Yu, Jiangbo .

JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2013, 350 (05) :1248-1263

[7]

Modeling and adaptive tracking for a class of stochastic Lagrangian control systems[J] . Ming-Yue Cui,Zhao-Jing Wu,Xue-Jun Xie,Peng Shi. Automatica . 2012

[8] Stochastic Hamiltonian dynamical systems [J].

Lazaro-Cami, Joan-Andreu ;

Ortega, Juan-Pablo .

REPORTS ON MATHEMATICAL PHYSICS, 2008, 61 (01) :65-122

[9]

Robust adaptive control of uncertain force/motion constrained nonholonomic mobile manipulators[J] . Z. Li,S.S. Ge,M. Adams,W.S. Wijesoma. Automatica . 2007 (3)

[10]

Decentralized adaptive output-feedback stabilization for large-scale stochastic nonlinear systems[J] . Shu-Jun Liu,Ji-Feng Zhang,Zhong-Ping Jiang. Automatica . 2006 (2)

← 1 2 →