Control based on linear algebra for mobile manipulators

Abstract:

This paper presents a control algorithm based on linear algebra for trajectory tracking of mo-bile manipulator robots. The proposed control algorithm considers the kinematics of the robot, which is approximated by the Euler method, the control actions for an optimal operation of the system are obtained solving a system of linear equations. In addition, the stability of the system is analyzed by concepts of linear algebra, where it is shown that the control error tends asymptotically to zero. Simulation results show the good performance of the proposed control system.

Año de publicación:

2018

Keywords:

• Numerical Methods
• Linear Algebra
• Model
• mobile manipulator
• Controller design

Fuente:

scopus

google