Please use this identifier to cite or link to this item: https://doi.org/10.1109/ISIC.2007.4450910
Title: Robust adaptive control of cooperating mobile manipulators with relative motion
Authors: Ge, S.S. 
Li, Z.
Adams, M.
Wijesoma, W.S.
Issue Date: 2008
Source: Ge, S.S.,Li, Z.,Adams, M.,Wijesoma, W.S. (2008). Robust adaptive control of cooperating mobile manipulators with relative motion. 22nd IEEE International Symposium on Intelligent Control, ISIC 2007. Part of IEEE Multi-conference on Systems and Control : 351-356. ScholarBank@NUS Repository. https://doi.org/10.1109/ISIC.2007.4450910
Abstract: In this paper, coupled dynamics are presented for two cooperating mobile robotic manipulators manipulating an object with relative motion in the presence of system dynamics uncertainty 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 validated by simulation studies. © 2007 IEEE.
Source Title: 22nd IEEE International Symposium on Intelligent Control, ISIC 2007. Part of IEEE Multi-conference on Systems and Control
URI: http://scholarbank.nus.edu.sg/handle/10635/71650
ISBN: 142440441X
DOI: 10.1109/ISIC.2007.4450910
Appears in Collections:Staff Publications

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