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
收藏
页码：589 / 601
页数：13
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