TRACKING CONTROL OF A MOBILE MANIPULATOR WITH FUZZY PD CONTROLLER

被引：0
|
作者：
Karray, Amal [1 ]
Feki, Moez [1 ]
机构：
[1] Univ Sfax, Engn Sch Sfax, Energy Management Lab, CEMLab, BP 1173, Sfax 3038, Tunisia
来源：
2015 WORLD CONGRESS ON INFORMATION TECHNOLOGY AND COMPUTER APPLICATIONS (WCITCA) | 2015年
关键词：
Mobile manipulator; Fuzzy; PD controller; Desired path; SLIDING MODE CONTROL; ROBOT;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we suggest a fuzzy PD controller for a dynamic model of nonholonomic mobile manipulator in order to treat the trajectory tracking control and to eliminate the effect of external force on the end-effector. Firstly, the dynamic model of the mobile robot in motion space is detailed. Secondly, a fuzzy PD controller is conceived to adjust the parameters of the PD controller online depending on the actual state of the dynamic system. In particular, the mobile robot can follow every path such as a straight line or a sinusoid. Simulation results are given to demonstrate the effectiveness of the proposed controller and to illustrate the coordination of two subsystems in performing the desired trajectory.
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页数：5
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