Title :
Mobile manipulator tracking control based on observer design
Author :
Ren, Yuwei ; Wang, Hong
Author_Institution :
Inst. of Autom., Chinese Acad. of Sci., Beijing, China
Abstract :
This paper studies the tracking control problem of mobile manipulators based on state observer. The proposed tracking controller ensures that the full state of the system can asymptotically track the given desired trajectory globally in the presence of the system coupling. Extensive simulations presented in the paper show the effectiveness of the proposed approach.
Keywords :
manipulators; mobile robots; observers; position control; tracking; mobile manipulator tracking control; observer design; state observer; system coupling; trajectory control; Automation; Couplings; Manipulators; Mobile communication; Observers; Trajectory; mobile manipulator; nonholonomic constraints; observer; tracking control;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5554199
