• DocumentCode
    1680994
  • Title

    Mobile manipulator tracking control based on observer design

  • Author

    Ren, Yuwei ; Wang, Hong

  • Author_Institution
    Inst. of Autom., Chinese Acad. of Sci., Beijing, China
  • fYear
    2010
  • Firstpage
    849
  • Lastpage
    854
  • Abstract
    This paper studies the tracking control problem of mobile manipulators based on state observer. The proposed tracking controller ensures that the full state of the system can asymptotically track the given desired trajectory globally in the presence of the system coupling. Extensive simulations presented in the paper show the effectiveness of the proposed approach.
  • Keywords
    manipulators; mobile robots; observers; position control; tracking; mobile manipulator tracking control; observer design; state observer; system coupling; trajectory control; Automation; Couplings; Manipulators; Mobile communication; Observers; Trajectory; mobile manipulator; nonholonomic constraints; observer; tracking control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Control and Automation (WCICA), 2010 8th World Congress on
  • Conference_Location
    Jinan
  • Print_ISBN
    978-1-4244-6712-9
  • Type

    conf

  • DOI
    10.1109/WCICA.2010.5554199
  • Filename
    5554199
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1680994