Mobile robots in singular time-delay form - Modeling and control

被引：12
|
作者：
Koumboulis, Fotis N. [1 ]
Kouvakas, Nikolaos D. [1 ]
机构：
[1] Sterea Ellada Inst Technol, Dept Automat Engn, Psahna Evias 34400, Greece
来源：
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS | 2016年 / 353卷 / 01期
关键词：
MANIPULATORS;
D O I：
10.1016/j.jfranklin.2015.10.016
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Modeling and control of a mobile robotic manipulator having a wheeled platform, with passive and active suspension, and a manipulator carrying an inertia load, is studied. The overall model is developed in a nonlinear singular neutral time delay system form. The special case of flat road and single joint manipulator is studied and the linear approximant of its model is derived. Using a dynamic controller involving delays, I/O decoupling between the vertical position of the load and the velocity of the wheeled platform under the constraint of norm bounded load contact forces, is derived. (C) 2015 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：160 / 179
页数：20
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