On Robust Hybrid ForceMotion Control Strategies Based on Actuator Dynamics for Nonholonomic Mobile Manipulators
Joint Authors
Source
Journal of Applied Mathematics
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-19, 19 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-07-04
Country of Publication
Egypt
No. of Pages
19
Main Subjects
Abstract EN
Robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances.
The controls are based on structural knowledge of the dynamics of the robot, and the actuator dynamics is also taken into account.
The proposed control is robust not only to structured uncertainty such as mass variation but also to unstructured one such as disturbances.
The system stability and the boundness of tracking errors are proved using Lyapunov stability theory.
The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance.
Simulation results validate that not only the states of the system asymptotically converge to the desired trajectory, but also the constraint force asymptotically converges to the desired force.
American Psychological Association (APA)
Zhu, Yongxin& Fan, Liping. 2012. On Robust Hybrid ForceMotion Control Strategies Based on Actuator Dynamics for Nonholonomic Mobile Manipulators. Journal of Applied Mathematics،Vol. 2012, no. 2012, pp.1-19.
https://search.emarefa.net/detail/BIM-1029052
Modern Language Association (MLA)
Zhu, Yongxin& Fan, Liping. On Robust Hybrid ForceMotion Control Strategies Based on Actuator Dynamics for Nonholonomic Mobile Manipulators. Journal of Applied Mathematics No. 2012 (2012), pp.1-19.
https://search.emarefa.net/detail/BIM-1029052
American Medical Association (AMA)
Zhu, Yongxin& Fan, Liping. On Robust Hybrid ForceMotion Control Strategies Based on Actuator Dynamics for Nonholonomic Mobile Manipulators. Journal of Applied Mathematics. 2012. Vol. 2012, no. 2012, pp.1-19.
https://search.emarefa.net/detail/BIM-1029052
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1029052