Adaptive Backstepping Control of Mobile Manipulator Robot Based on Virtual Decomposition Approach

被引：0
|
作者：
Brahmi, A. [1 ]
Saad, M. [1 ]
Gauthier, G. [1 ]
Brahmi, B. [1 ]
Zhu, W. -H. [2 ]
Ghommam, J. [3 ]
机构：
[1] Ecole Technol Super, Dept Elect Engn, Montreal, PQ, Canada
[2] Space Explorat Canadian Space Agcy, Montreal, PQ, Canada
[3] Ecole Natl Ingenieurs, Res Unit Mechatron & Automat Syst, Sfax, Tunisia
来源：
PROCEEDINGS OF 2016 8TH INTERNATIONAL CONFERENCE ON MODELLING, IDENTIFICATION & CONTROL (ICMIC 2016) | 2016年
关键词：
Virtual decomposition control; adaptive backstepping control; centralized/decentralized control; TRACKING CONTROL;
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：
This paper presents an adaptive backstepping control scheme for a mobile manipulator robot based on the virtual decomposition control (VDC). The control scheme was applied on a three degrees of freedom manipulator arm mounted on a two degrees of freedom mobile platform to track a desired workspace trajectory. The desired joint space trajectory is obtained by using the inverse kinematics. In this paper, the mobile manipulator has N degrees of freedom, divided virtually into N subsystems. The validation of the proposed scheme is proved in real time implementation. The experimental results show the effectiveness of the proposed control schemes based on VDC approach.
引用
收藏
页码：707 / 712
页数：6
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