Dynamic modeling and adaptive neural-fuzzy control for nonholonomic mobile manipulators moving on a slope

被引：0

作者：

Liu, YG ^{[1
]}

Li, YM ^{[1
]}

机构：

[1] Univ Macau, Fac Sci & Technol, Taipa, Peoples R China

来源：

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2006年 / 4卷 / 02期

关键词：

adaptive control; mobile manipulator; neural-fuzzy control; nonholonomic;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses dynamic modeling and task-space trajectory following issues for nonholonomic mobile manipulators moving on a slope. An integrated dynamic modeling method is proposed considering nonholonomic constraints and interactive motions. An adaptive neural-fuzzy controller is presented for end-effector trajectory following, which does not rely on precise apriori knowledge of dynamic parameters and can Suppress bounded external disturbances. Effectiveness of the proposed algorithm is verified through Simulations.

引用

页码：197 / 203

页数：7

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