Adaptive motion/force control of uncertain nonholonomic mobile manipulator with estimation of unknown external force

DOI10.1007/s11044-018-9630-yzbMath1407.70013OpenAlexW2800826508WikidataQ129834841 ScholiaQ129834841MaRDI QIDQ1722661

Tarak Damak, Mohamed Boukattaya, Neila Mezghani

Publication date: 18 February 2019

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-018-9630-y

zbMATH Keywords

adaptive controlLyapunov theorytask spaceexternal forcenonholonomic mobile manipulatorredundancy resolutionforce estimation and compensation

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Robot dynamics and control of rigid bodies (70E60) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Related Items (1)

Finite‐time control of mobile manipulators subject to unknown/unstructured external disturbances

Cites Work

• On multiple secondary task execution of redundant nonholonomic mobile manipulators
• On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty
• Adaptive robust tracking control for mobile manipulators in the task‐space under uncertainties
• Adaptive recurrent neural network control of uncertain constrained nonholonomic mobile manipulators

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