Please use this identifier to cite or link to this item: https://doi.org/10.1109/TSMCB.2008.2002853
Title: Robust adaptive control of cooperating mobile manipulators with relative motion
Authors: Li, Z.
Tao, P.Y.
Ge, S.S. 
Adams, M.
Wijesoma, W.S.
Keywords: Adaptive control
Cooperation
Force/motion
Mobile manipulators
Issue Date: 2009
Source: Li, Z., Tao, P.Y., Ge, S.S., Adams, M., Wijesoma, W.S. (2009). Robust adaptive control of cooperating mobile manipulators with relative motion. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics 39 (1) : 103-116. ScholarBank@NUS Repository. https://doi.org/10.1109/TSMCB.2008.2002853
Abstract: In this paper, coupled dynamics are presented for two cooperating mobile robotic manipulators manipulating an object with relative motion in the presence of uncertainties and external disturbances. Centralized robust adaptive controls are introduced to guarantee the motion, and force trajectories of the constrained object converge to the desired manifolds with prescribed performance. The stability of the closed-loop system and the boundedness of tracking errors are proved using Lyapunov stability synthesis. The tracking of the constraint trajectory/force up to an ultimately bounded error is achieved. The proposed adaptive controls are robust against relative motion disturbances and parametric uncertainties and are validated by simulation studies. © 2008 IEEE.
Source Title: IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
URI: http://scholarbank.nus.edu.sg/handle/10635/57283
ISSN: 10834419
DOI: 10.1109/TSMCB.2008.2002853
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