Title :
Adaptive control with redundancy resolution of mobile manipulators
Author :
Andaluz, Víctor ; Roberti, Flavio ; Carelli, Ricardo
Author_Institution :
Inst. de Autom., Univ. Nac. de San Juan, San Juan, Argentina
Abstract :
This paper presents an adaptive robust tracking control method for a mobile manipulator during trajectory tracking. The parameters of the mobile manipulator dynamics are updated online. The design of the controller is based on two cascaded subsystems: a minimum norm kinematic controller with command saturation, and an adaptive controller that compensates the dynamics of the mobile manipulator system. Robot commands are defined in terms of reference velocities. Stability and robustness are proved by using Lyapunov´s method. Experimental results show a good performance of the proposed controller as proved by the theoretical design.
Keywords :
Lyapunov methods; adaptive control; cascade systems; control system synthesis; manipulator dynamics; manipulator kinematics; mobile robots; position control; robust control; Lyapunov method; adaptive robust tracking control method; cascaded subsystem; command saturation; controller design; minimum norm kinematic controller; mobile manipulator; mobile manipulator dynamics; redundancy resolution; reference velocities; trajectory tracking; Kinematics; Manipulator dynamics; Mathematical model; Mobile communication; Trajectory; Adaptive control; Dynamic compensation; Mobile manipulator;
Conference_Titel :
IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society
Conference_Location :
Glendale, AZ
Print_ISBN :
978-1-4244-5225-5
Electronic_ISBN :
1553-572X
DOI :
10.1109/IECON.2010.5675471