DocumentCode :
3572237
Title :
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
Link To Document :
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