Robust adaptive control of uncertain force/motion constrained nonholonomic mobile manipulators

被引：129
|
作者：
Li, Z. [1 ,2 ]
Ge, S. S. [1 ]
Adams, M. [2 ]
Wijesoma, W. S. [1 ,2 ]
机构：
[1] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore
[2] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore
来源：
AUTOMATICA | 2008年 / 44卷 / 03期
关键词：
mobile manipulator; trajectory/force control; nonholonomic/holonomic constraint;
D O I：
10.1016/j.automatica.2007.07.012
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, force/motion tracking control is investigated for nonholonomic mobile manipulators with unknown parameters and disturbances under uncertain holonomic constraints. The nonholonomic mobile manipulator is transformed into a reduced chained form, and then, robust adaptive force/motion control with hybrid variable signals is proposed to compensate for parametric uncertainties and suppress bounded disturbances. The control scheme guarantees that the outputs of the dynamic system track some bounded auxiliary signals, which subsequently drive the kinematic system to the desired trajectory/force. Simulation studies on the control of a wheeled mobile manipulator are used to show the effectiveness of the proposed scheme. (C) 2007 Elsevier Ltd. All rights reserved.
引用
收藏
页码：776 / 784
页数：9
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