Please use this identifier to cite or link to this item:
DC FieldValue
dc.titleRobust adaptive control of coordinated multiple mobile manipulators
dc.contributor.authorLi, Z.
dc.contributor.authorGe, S.S.
dc.contributor.authorWang, Z.
dc.identifier.citationLi, Z.,Ge, S.S.,Wang, Z. (2007). Robust adaptive control of coordinated multiple mobile manipulators. Proceedings of the IEEE International Conference on Control Applications : 71-76. ScholarBank@NUS Repository. <a href="" target="_blank"></a>
dc.description.abstractIn this paper, robust adaptive controls of multiple mobile manipulators carrying a common object in a cooperative manner have been investigated with unknown inertia parameters and disturbances. At first, a concise dynamics consisting of the dynamics of mobile manipulators and the geometrical constraints between the end-effectors and the object is developed for coordinated multiple mobile manipulators, Then, robust adaptive controls have been designed where parametric uncertainties are compensated by adaptive update techniques and the disturbances are suppressed. Simulation studies on the control of coordinated two wheels driven mobile manipulators have been used to show the effectiveness of the proposed scheme. © 2007 IEEE.
dc.typeConference Paper
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.description.sourcetitleProceedings of the IEEE International Conference on Control Applications
Appears in Collections:Staff Publications

Show simple item record
Files in This Item:
There are no files associated with this item.

Google ScholarTM



Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.