Robust adaptive motion/force control scheme for crawler-type mobile manipulator with nonholonomic constraint based on sliding mode control approach

被引：25

作者：

Peng, Jinzhu ^{[1
]}

Yang, Zeqi ^{[1
]}

Wang, Yaonan ^{[2
]}

Zhang, Fangfang ^{[1
]}

Liu, Yanhong ^{[1
]}

机构：

[1] Zhengzhou Univ, Sch Elect Engn, Zhengzhou 450001, Henan, Peoples R China

[2] Hunan Univ, Coll Elect & Informat Engn, Changsha 410082, Hunan, Peoples R China

来源：

ISA TRANSACTIONS | 2019年 / 92卷

基金：

中国国家自然科学基金;

关键词：

Crawler-type mobile manipulator; Sliding mode control; Adaptive control; Motion/force control; Nonholonomic system; TRACKING CONTROL; ROBOT MANIPULATOR; NEURAL-NETWORKS; BACKSTEPPING CONTROL; SYSTEMS;

D O I：

10.1016/j.isatra.2019.02.009

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, a robust adaptive motion/force control (RAMFC) scheme is presented for a crawler-type mobile manipulator (CTMM) with nonholonomic constraint. For the position tracking control design, an adaptive sliding mode tracking controller is proposed to deal with the unknown upper bounds of system parameter uncertainties and external disturbances. Based on the position tracking results, a robust control strategy is also developed for the nonholonomic constraint force of CTMM. According to the Lyapunov stability theory, the stability of the closed-loop control system, the uniformly ultimately boundedness of position tracking errors, and the boundedness of the force error and adaptive coefficient errors are all guaranteed by using the derived RAMFC scheme. Simulation and experimental tests on a CTMM with two-link manipulator demonstrate the effectiveness and robustness of the proposed control scheme. (C) 2019 ISA. Published by Elsevier Ltd. All rights reserved.

引用

页码：166 / 179

页数：14

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