Robust adaptive control of uncertain force/motion constrained nonholonomic mobile manipulators

Please use this identifier to cite or link to this item: https://doi.org/10.1016/j.automatica.2007.07.012

Title:	Robust adaptive control of uncertain force/motion constrained nonholonomic mobile manipulators
Authors:	Li, Z. Ge, S.S. Adams, M. Wijesoma, W.S.
Keywords:	Mobile manipulator Nonholonomic/holonomic constraint Trajectory/force control
Issue Date:	Mar-2008
Citation:	Li, Z., Ge, S.S., Adams, M., Wijesoma, W.S. (2008-03). Robust adaptive control of uncertain force/motion constrained nonholonomic mobile manipulators. Automatica 44 (3) : 776-784. ScholarBank@NUS Repository. https://doi.org/10.1016/j.automatica.2007.07.012
Abstract:	In this paper, force/motion tracking control is investigated for nonholonomic mobile manipulators with unknown parameters and disturbances under uncertain holonomic constraints. The nonholonomic mobile manipulator is transformed into a reduced chained form, and then, robust adaptive force/motion control with hybrid variable signals is proposed to compensate for parametric uncertainties and suppress bounded disturbances. The control scheme guarantees that the outputs of the dynamic system track some bounded auxiliary signals, which subsequently drive the kinematic system to the desired trajectory/force. Simulation studies on the control of a wheeled mobile manipulator are used to show the effectiveness of the proposed scheme. © 2007 Elsevier Ltd. All rights reserved.
Source Title:	Automatica
URI:	http://scholarbank.nus.edu.sg/handle/10635/57285
ISSN:	00051098
DOI:	10.1016/j.automatica.2007.07.012
Appears in Collections:	Staff Publications

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