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

Yangmin Li; Yugang Liu

doi:10.1109/ICMECH.2005.1529283

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

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

4 Citations (Scopus)

Abstract

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 language	English
Title of host publication	Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05
Pages	358-363
Number of pages	6
Volume	2005
DOIs	https://doi.org/10.1109/ICMECH.2005.1529283
Publication status	Published - 1 Dec 2005
Externally published	Yes
Event	2005 IEEE International Conference on Mechatronics, ICM '05 - Taipei, Taiwan Duration: 10 Jul 2005 → 12 Jul 2005

Conference

Conference	2005 IEEE International Conference on Mechatronics, ICM '05
Country/Territory	Taiwan
City	Taipei
Period	10/07/05 → 12/07/05

ASJC Scopus subject areas

Engineering(all)

More information

10.1109/ICMECH.2005.1529283

Cite this

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Adaptive neural-fuzzy control for a nonholonomic mobile modular manipulator moving on a slope. / Li, Yangmin; Liu, Yugang.
Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05. Vol. 2005 2005. p. 358-363 1529283.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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

Abstract

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