DocumentCode
2039664
Title
On tracking control of mobile manipulators
Author
Dong, Wenjie ; Xu, Yangsheng ; Wang, Qi
Author_Institution
Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Shatin, China
Volume
4
fYear
2000
fDate
2000
Firstpage
3455
Abstract
This paper studies the tracking control problem of mobile manipulators with consideration of the interaction between the mobile platform and the manipulator. A global tracking controller is proposed based on the dynamics of the defined tracking error and the extended Barbalat´s lemma. The proposed controller ensures that the full state of the system 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
manipulator dynamics; mobile robots; position control; reduced order systems; tracking; Barbalat lemma; dynamics; mobile manipulators; mobile platform; model reduction; system coupling; tracking control; Aerodynamics; Automatic control; Control systems; Error correction; Manipulator dynamics; Mobile robots; Robotics and automation; Stability; Vehicle dynamics; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.845262
Filename
845262
Link To Document