Modeling and finite-time tracking control for mobile manipulators with affine and holonomic constraints

被引：0
|
作者：
Wei Sun
Yuqiang Wu
机构：
[1] Liaocheng University,School of Mathematics Science
[2] Qufu Normal University,Institute of Automation
来源：
Journal of Systems Science and Complexity | 2016年 / 29卷
关键词：
Affine constraints; finite-time tracking; holonomic constraints; mobile manipulators;
D O I：
暂无
中图分类号：
学科分类号：
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：12
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