Modeling and Finite-Time Tracking Control for Mobile Manipulators with Affine and Holonomic Constraints

被引：0

作者：

SUN Wei ^{[1
]}

WU Yuqiang ^{[2
]}

机构：

[1] School of Mathematics Science,Liaocheng University

[2] Institute of Automation,Qufu Normal University

来源：

Journal of Systems Science & Complexity | 2016年 / 29卷 / 03期

基金：

中国国家自然科学基金;

关键词：

Affine constraints; finite-time tracking; holonomic constraints; mobile manipulators;

D O I：

暂无

中图分类号：

TP242 [机器人];

学科分类号：

1111 ;

摘要：

This paper focuses on the problem of modeling and finite-time tracking control for mobile manipulators with affine and holonomic constraints.A reduced dynamic model is obtained by appropriately processing affine and holonomic constraints,respectively.Then finite-time tracking controllers are designed to ensure that output tracking errors of closed-loop system converge to zero in finite time while the constraint force remains bounded.Finally,detailed simulation results are provided to confirm the effectiveness of the control strategy.

引用

页码：589 / 601

页数：13

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