Adaptive control with redundancy resolution of mobile manipulators


Abstract:

This paper presents an adaptive robust tracking control method for a mobile manipulator during trajectory tracking. The parameters of the mobile manipulator dynamics are updated online. The design of the controller is based on two cascaded subsystems: a minimum norm kinematic controller with command saturation, and an adaptive controller that compensates the dynamics of the mobile manipulator system. Robot commands are defined in terms of reference velocities. Stability and robustness are proved by using Lyapunov's method. Experimental results show a good performance of the proposed controller as proved by the theoretical design. © 2010 IEEE.

Año de publicación:

2010

Keywords:

  • dynamic compensation
  • adaptive control
  • mobile manipulator

Fuente:

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Tipo de documento:

Conference Object

Estado:

Acceso restringido

Áreas de conocimiento:

  • Sistema de control
  • Robótica

Áreas temáticas:

  • Otras ramas de la ingeniería