Adaptive Robust Motion/Force Control of Holonomic-Constrained Nonholonomic Mobile Manipulators

Author

Li, Zhijun ; Ge, Shuzhi Sam ; Ming, Aiguo

Author_Institution

Dept. of Mech. & Control Eng., Univ. of Electro-Commun., Tokyo

Volume

37

Issue

3

fYear

2007

fDate

6/1/2007 12:00:00 AM

Firstpage

607

Lastpage

616

Abstract

In this paper, adaptive robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. The proposed control is robust not only to parameter uncertainties such as mass variations but also to external ones such as disturbances. The stability of the closed-loop system and the boundedness of tracking errors are proved using Lyapunov stability synthesis. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance and the bounded constraint force. Simulation results validate that the motion of the system converges to the desired trajectory, and the constraint force converges to the desired force

Keywords

Lyapunov methods; adaptive control; closed loop systems; force control; manipulators; mobile robots; motion control; robust control; Lyapunov stability synthesis; adaptive robust motion control; closed-loop system; force control; holonomic-constrained nonholonomic mobile manipulator; Adaptive control; Force control; Lyapunov method; Motion control; Programmable control; Robust control; Stability; Uncertain systems; Uncertainty; Weight control; Holonomic constraint; motion/force control; nonholonomic mobile manipulators; Algorithms; Artificial Intelligence; Computer Simulation; Feedback; Models, Theoretical; Motion; Robotics; Stress, Mechanical;

fLanguage

English

Journal_Title

Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on

Publisher

ieee

ISSN

1083-4419

Type

jour

DOI

10.1109/TSMCB.2006.888661

Filename

4200806