Adaptive Tracking Control of Mobile Manipulator with Holonomic and Affine Constraints

被引：0
|
作者：
Wu, Yu-qiang [1 ]
Sun, Wei [2 ]
机构：
[1] Qufu Normal Univ, Inst Automat, Qufu 273165, Shandong, Peoples R China
[2] Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China
来源：
2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2014年
基金：
中国国家自然科学基金;
关键词：
Tracking control; mobile manipulators; holonomic constraints; affine constraints; mechanical system; ROBUST MOTION/FORCE CONTROL; SYSTEMS;
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：
The adaptive trajectory and force tracking control is considered for mobile manipulator with holonomic constraints and affine constraints in this paper. A new state transformation is proposed to deal with the affine constraints, and then based on a suitable reduced dynamic model, adaptive controller is presented to ensure that the states of closed-loop system asymptotically track to desired trajectories while the constraint force remains bounded by tuning design parameters. Detailed simulation results confirm the effectiveness of the control strategy.
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页码：273 / 278
页数：6
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