Adaptive robust motion/force control of holonomic-constrained nonholonomic mobile manipulators.
In this paper, adaptive robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. The proposed control is robust not only to parameter uncertainties such as mass variations but also to external ones such as disturbances. The stability of the closed-loop system and the boundedness of tracking errors are proved using Lyapunov stability synthesis. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance and the bounded constraint force. Simulation results validate that the motion of the system converges to the desired trajectory, and the constraint force converges to the desired force.
Li
Zhijun
Z
Department of Mechanical and Control Engineering, The University of Electro-Communications, Tokyo 182-8585, Japan.
Ge
Shuzhi Sam
SS
Ming
Aiguo
A
D000465:Algorithms; D001185:Artificial Intelligence; D003198:Computer Simulation; D005246:Feedback; D008962:Models, Theoretical; D009038:Motion; D012371:Robotics / Q000379:methods*; D013314:Stress, Mechanical