Intelligent tracking control of a dual-arm wheeled mobile manipulator with dynamic uncertainties

DOI10.1002/RNC.2796zbMath1271.93035OpenAlexW2156488586MaRDI QIDQ2847247

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Publication date: 4 September 2013

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rnc.2796

zbMATH Keywords

sliding mode controlfuzzy neural networkLyapunov theorywheeled mobile manipulatornonholonomic dynamic system

Mathematics Subject Classification ID

Fuzzy control/observation systems (93C42) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (5)

Trajectory planning and tracking control for 6‐DOF Stanford manipulator based on adaptive sliding mode multi‐stage switching control ⋮ A GNN for repetitive motion generation of four-wheel omnidirectional mobile manipulator with nonconvex bound constraints ⋮ Adaptive prescribed performance tracking control for strict‐feedback nonlinear systems with zero dynamics ⋮ Sequentially switched fuzzy-model-based control for wheeled mobile robot with visual odometry ⋮ Recurrent fuzzy wavelet neural network variable impedance control of robotic manipulators with fuzzy gain dynamic surface in an unknown varied environment

Cites Work

• Tracking control of mobile robots: A case study in backstepping
• On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty
• Coordinating locomotion and manipulation of a mobile manipulator

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