Adaptive neural-fuzzy control for a nonholonomic mobile modular manipulator moving on a slope

Yangmin Li, Yugang Liu

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

4 Citations (Scopus)


This paper addresses the task-space trajectory Following Issue for a nonholonomic mobile modular manipulator, which is composed of a 4-degret-of-freedom (DOF) modular manipulator and a 3-wheeled nonholonomic mobile platform. An adaptive neural-fuzzy controller (ANFC) is presented to control the end-effector to follow a desired spacial trajectory in a 3-D space. The proposed algorithm docs not need exact dynamic parameters in advance, and can suppress bounded external disturbances effectively. No off-line training process is needed for the ANFC, and all the adjustable parameters can be initialized according to expert's experience but not selected randomly. Simulation results demonstrate that the proposed controller is effective.
Original languageEnglish
Title of host publicationProceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05
Number of pages6
Publication statusPublished - 1 Dec 2005
Externally publishedYes
Event2005 IEEE International Conference on Mechatronics, ICM '05 - Taipei, Taiwan
Duration: 10 Jul 200512 Jul 2005


Conference2005 IEEE International Conference on Mechatronics, ICM '05

ASJC Scopus subject areas

  • Engineering(all)

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