Hybrid adaptive control laws solving a path following problem for non-holonomic mobile manipulators

被引：26
|
作者：
Mazur, A [1 ]
机构：
[1] Wroclaw Univ Technol, Inst Engn Cybernet, PL-50372 Wroclaw, Poland
来源：
INTERNATIONAL JOURNAL OF CONTROL | 2004年 / 77卷 / 15期
关键词：
D O I：
10.1080/0020717042000297162
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 a general solution to the path following problem for mobile manipulators with non-holonomic mobile platform has been presented. New proposed control algorithms-for mobile manipulators with fully known dynamics or with parametric uncertainty in the dynamics-take into considerations the kinematics as well as the dynamics of the non-holonomic mobile manipulator. The convergence of the control algorithms is proved using the LaSalle's invariance principle.
引用
收藏
页码：1297 / 1306
页数：10
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