Please use this identifier to cite or link to this item: https://doi.org/10.1109/TSMCB.2006.888661
Title: Adaptive robust motion/force control of holonomic-constrained nonholonomic mobile manipulators
Authors: Li, Z.
Ge, S.S. 
Ming, A.
Keywords: Holonomic constraint
Motion/force control
Nonholonomic mobile manipulators
Issue Date: Jun-2007
Source: Li, Z., Ge, S.S., Ming, A. (2007-06). Adaptive robust motion/force control of holonomic-constrained nonholonomic mobile manipulators. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics 37 (3) : 607-616. ScholarBank@NUS Repository. https://doi.org/10.1109/TSMCB.2006.888661
Abstract: In this paper, adaptive robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. The proposed control is robust not only to parameter uncertainties such as mass variations but also to external ones such as disturbances. The stability of the closed-loop system and the boundedness of tracking errors are proved using Lyapunov stability synthesis. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance and the bounded constraint force. Simulation results validate that the motion of the system converges to the desired trajectory, and the constraint force converges to the desired force. © 2007 IEEE.
Source Title: IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
URI: http://scholarbank.nus.edu.sg/handle/10635/54940
ISSN: 10834419
DOI: 10.1109/TSMCB.2006.888661
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