Adaptive tracking control of mobile manipulator with holonomic and affine constraints

Author

Yu-qiang Wu ; Wei Sun

Author_Institution

Inst. of Autom., Qufu Normal Univ., Qufu, China

fYear

2014

Firstpage

273

Lastpage

278

Abstract

The adaptive trajectory and force tracking control is considered for mobile manipulator with holonomic constraints and affine constraints in this paper. A new state transformation is proposed to deal with the affine constraints, and then based on a suitable reduced dynamic model, adaptive controller is presented to ensure that the states of closed-loop system asymptotically track to desired trajectories while the constraint force remains bounded by tuning design parameters. Detailed simulation results confirm the effectiveness of the control strategy.

Keywords

adaptive control; closed loop systems; control system synthesis; force control; manipulator kinematics; mobile robots; tracking; trajectory control; adaptive tracking control; adaptive trajectory; affine constraints; closed-loop system; constraint force; design parameters tuning; force tracking control; holonomic constraints; mobile manipulator; reduced dynamic model; state transformation; Boats; Dynamics; Force; Manipulator dynamics; Mobile communication; Trajectory; Tracking control; affine constraints; holonomic constraints; mechanical system; mobile manipulators;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2014 11th World Congress on

Type

conf

DOI

10.1109/WCICA.2014.7052726

Filename

7052726