Tracking control of mobile manipulator with dynamical uncertainties

Author

Song, Zuoshi ; Zhao, Dongbin ; Yi, Jianqiang ; Li, Xinchun

Author_Institution

Inst. of Autom., Chinese Acad. of Sci., Beijing, China

fYear

2005

fDate

2-6 Aug. 2005

Firstpage

759

Lastpage

764

Abstract

Tracking control problem of mobile manipulators with dynamical uncertainties is addressed in this paper. The controller is designed based on model of mobile manipulators consisting of two cascaded subsystems: a chained-like kinematical model without uncertainties and a dynamical model with uncertainties. The proposed control law can ensure that full states of closed-loop system can track given trajectories in presence of dynamical uncertainties. A globally asymptotic stability is obtained in Lyapunov sense. Simulation studies show feasibility and effectiveness of the proposed approach.

Keywords

Lyapunov methods; asymptotic stability; closed loop systems; manipulator dynamics; mobile robots; robust control; uncertain systems; Lyapunov stability; asymptotic stability; closed-loop system; dynamical uncertainties; mobile manipulator; robust control; tracking control; Adaptive control; Automatic control; Control systems; Manipulator dynamics; Neural networks; Neurons; Programmable control; Robust control; Trajectory; Uncertainty; Mobile manipulator; robust control; trajectory tracking; uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8912-3

Type

conf

DOI

10.1109/IROS.2005.1545332

Filename

1545332