A disturbance rejection controller for an anti-mine mobile robotic manipulator

Author

Kouvakas, Nikolaos D. ; Koumboulis, Fotis N.

Author_Institution

Dept. of Autom. Eng., Sterea Ellada Inst. of Technol., Psahna Evias, Greece

fYear

2014

fDate

16-19 June 2014

Firstpage

1316

Lastpage

1322

Abstract

A demining mobile robotic manipulator is considered. The design goal is to eliminate the influence of the gun reaction force to the targeting of the gun. The mathematical model of the mobile manipulator is developed in the form of a nonlinear neutral time delay system. The design goal is formulated as a disturbance rejection problem for the linear approximant of the original nonlinear model. The problem is solved using a dynamic measurement output feedback time delay controller. The good performance of the proposed scheme is illustrated via computational experiments over the nonlinear model of the system.

Keywords

delays; feedback; force control; landmine detection; manipulators; mobile robots; nonlinear control systems; anti-mine mobile robotic manipulator; demining mobile robotic manipulator; disturbance rejection controller; dynamic measurement output feedback time delay controller; gun reaction force; nonlinear neutral time delay system; Force; Joints; Manipulators; Mobile communication; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation (MED), 2014 22nd Mediterranean Conference of

Conference_Location

Palermo

Print_ISBN

978-1-4799-5900-6

Type

conf

DOI

10.1109/MED.2014.6961558

Filename

6961558