Please use this identifier to cite or link to this item: https://doi.org/10.1109/ACC.2007.4282503
Title: Adaptive robust output-feedback motion/force control of electrically driven nonholonomic mobile manipulators
Authors: Li, Z.
Ge, S.S. 
Adams, M.
Wijesoma, W.S.
Issue Date: 2007
Source: Li, Z.,Ge, S.S.,Adams, M.,Wijesoma, W.S. (2007). Adaptive robust output-feedback motion/force control of electrically driven nonholonomic mobile manipulators. Proceedings of the American Control Conference : 2147-2152. ScholarBank@NUS Repository. https://doi.org/10.1109/ACC.2007.4282503
Abstract: In this paper, adaptive robust output-feedback force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. The controls are developed on structural knowledge of the dynamics of the robot, and the dynamics of actuators. The system stability and the boundedness of tracking errors are proved using Lyapunov stability synthesis. Simulation results validate that not only the states of the system asymptotically converge to the desired trajectory, but also the constraint force asymptotically converges to the desired force. ©2007 IEEE.
Source Title: Proceedings of the American Control Conference
URI: http://scholarbank.nus.edu.sg/handle/10635/69224
ISBN: 1424409888
ISSN: 07431619
DOI: 10.1109/ACC.2007.4282503
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