Title :
Tracking control of mobile manipulator with dynamical uncertainties
Author :
Song, Zuoshi ; Zhao, Dongbin ; Yi, Jianqiang ; Li, Xinchun
Author_Institution :
Inst. of Autom., Chinese Acad. of Sci., Beijing, China
Abstract :
Tracking control problem of mobile manipulators with dynamical uncertainties is addressed in this paper. The controller is designed based on model of mobile manipulators consisting of two cascaded subsystems: a chained-like kinematical model without uncertainties and a dynamical model with uncertainties. The proposed control law can ensure that full states of closed-loop system can track given trajectories in presence of dynamical uncertainties. A globally asymptotic stability is obtained in Lyapunov sense. Simulation studies show feasibility and effectiveness of the proposed approach.
Keywords :
Lyapunov methods; asymptotic stability; closed loop systems; manipulator dynamics; mobile robots; robust control; uncertain systems; Lyapunov stability; asymptotic stability; closed-loop system; dynamical uncertainties; mobile manipulator; robust control; tracking control; Adaptive control; Automatic control; Control systems; Manipulator dynamics; Neural networks; Neurons; Programmable control; Robust control; Trajectory; Uncertainty; Mobile manipulator; robust control; trajectory tracking; uncertainty;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545332
