Dynamic coupling switching control incorporating support vector machines for wheeled mobile manipulators with hybrid joints

DOI10.1016/J.AUTOMATICA.2010.02.019zbMath1191.93105OpenAlexW1988944896MaRDI QIDQ980916

Yu Kang, Zhijun Li

Publication date: 8 July 2010

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2010.02.019

zbMATH Keywords

zero dynamicswheeled mobile manipulatorsunder-actuated joints

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Discrete event control/observation systems (93C65) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30)

Related Items (6)

Event-triggered feedback stabilization of switched linear systems using dynamic quantized input ⋮ Adaptive backstepping control of wheeled inverted pendulums models ⋮ 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 ⋮ An adaptive sliding mode backstepping control for the mobile manipulator with nonholonomic constraints ⋮ Adaptive nonsingular terminal sliding mode control of MEMS gyroscope based on backstepping design

Cites Work

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• On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty
• A singularity-free motion control algorithm for robot manipulators -- a hybrid system approach
• Robust motion/force control of mechanical systems with classical nonholonomic constraints
• A dynamic coupling index for underactuated manipulators

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