On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty
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Publication:1614416
DOI10.1016/S0005-1098(02)00060-2zbMath1005.93035OpenAlexW2093817182MaRDI QIDQ1614416
Publication date: 5 September 2002
Published in: Automatica (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1016/s0005-1098(02)00060-2
nonholonomic systemsmobile robotsadaptive trackingmobile manipulatorforce/position controlconstrained robot systems
Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Kinematics of mechanisms and robots (70B15)
Related Items (21)
Modeling and finite-time tracking control for mobile manipulators with affine and holonomic constraints ⋮ Adaptive-backstepping force/motion control for mobile-manipulator robot based on fuzzy CMAC neural networks ⋮ Mobile robots in singular time-delay form -- modeling and control ⋮ On path following control of nonholonomic mobile manipulators ⋮ Adaptive neural output feedback control for uncertain robot manipulators with input saturation ⋮ Robust adaptive motion/force control for wheeled inverted pendulums ⋮ Configuring tasks as constraints for coordinated mechanical systems: a Udwadia-Kalaba theory based adaptive robust control ⋮ Finite‐time control of mobile manipulators subject to unknown/unstructured external disturbances ⋮ Adaptive tracking control for a class of manipulator systems with state constraints and stochastic disturbances ⋮ Adaptive motion/force control of uncertain nonholonomic mobile manipulator with estimation of unknown external force ⋮ Robust tracking control of a unicycle-type wheeled mobile manipulator using a hybrid sliding mode fuzzy neural network ⋮ Modeling and computation of real-time applied torques and non-holonomic constraint forces/moment, and optimal design of wheels for an autonomous security robot tracking a moving target ⋮ Adaptive sliding mode control of mobile manipulators with Markovian switching joints ⋮ On robust hybrid force/motion control strategies based on actuator dynamics for nonholonomic mobile manipulators ⋮ Practical and finite-time fuzzy adaptive control for nonlinear descriptor systems with uncertainties of unknown bound ⋮ Adaptive recurrent neural network control of uncertain constrained nonholonomic mobile manipulators ⋮ Dynamic coupling switching control incorporating support vector machines for wheeled mobile manipulators with hybrid joints ⋮ Adaptive motion/force control of nonholonomic mechanical systems with affine constraints ⋮ Adaptive Motion/Force Tracking Control for a Class of Mobile Manipulators ⋮ Intelligent tracking control of a dual-arm wheeled mobile manipulator with dynamic uncertainties ⋮ Adaptive tracking control for mobile manipulators with stochastic disturbances
Cites Work
- Nonholonomic motion planning: steering using sinusoids
- Feedback stabilization and tracking of constrained robots
- Control and stabilization of nonholonomic dynamic systems
- Adaptive stabilization of mobile manipulators
- Coordinating locomotion and manipulation of a mobile manipulator
- Adaptive control of a constrained robot - ensuring zero tracking and zero force errors
- Trajectory tracking control of dynamic non-holonomic systems with unknown dynamics
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