Modeling and finite-time tracking control for mobile manipulators with affine and holonomic constraints

DOI10.1007/S11424-016-4183-8MaRDI QIDQ328200zbMATH OpenOpenAlexFDO

Authors Yuqiang Wu, Wei Sun

Publication date 20 October 2016

Published in Journal of Systems Science and Complexity (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11424-016-4183-8

zbMATH Keywords

holonomic constraintsaffine constraintsfinite-time trackingmobile manipulators

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85) Holonomic systems related to the dynamics of a system of particles (70F20)

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Cites work

• Adaptive motion/force tracking control for a class of mobile manipulators
• Design of finite-time stabilizing controllers for nonlinear dynamical systems
• Décomposition de domaine pour le contrôle de systèmes gouvernés par des équations d'évolution
• Feedback stabilization and tracking of constrained robots
• Finite-time control of robotic manipulators
• Finite-time stabilization of nonlinear impulsive dynamical systems
• Finite-time tracking using sliding mode control
• Integrability condition on an almost complex structure and its application
• Mathematical modelling and theoretical analysis of nonholonomic kinematic systems with a class of rheonomous affine constraints
• On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty
• Optimal integral sliding mode control scheme based on pseudospectral method for robotic manipulators
• Robust motion/force control of mechanical systems with classical nonholonomic constraints
• Suboptimal integral sliding mode controller design for a class of affine systems
• Terminal sliding mode control design for uncertain dynamic systems

Cited in

(8)

• On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty
• Adaptive backstepping sliding mode control of uncertain semi-strict nonlinear systems and application to permanent magnet synchronous motor
• Adaptive motion/force tracking control for a class of mobile manipulators
• Adaptive tracking control for mobile manipulators with stochastic disturbances
• Adaptive tracking control for a class of manipulator systems with state constraints and stochastic disturbances
• Robust nonsingular fixed time terminal sliding mode control for atmospheric pollution detection lidar scanning mechanism
• A unified approach to input-output linearization and concurrent control of underactuated open-chain multi-body systems with holonomic and nonholonomic constraints
• New approach to designing input-output decoupling controllers for mobile manipulators

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