Dynamic modeling and adaptive neural-fuzzy control for nonholonomic mobile manipulators moving on a slope

Yugang Liu, Yangmin Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

43 Citations (Scopus)


This paper addresses dynamic modeling and task-space trajectory following issues for nonholonomic mobile manipulators moving on a slope. An integrated dynamic modeling method is proposed considering nonholonomic constraints and interactive motions. An adaptive neural-fuzzy controller is presented for end-effector trajectory following, which does not rely on precise apriori knowledge of dynamic parameters and can suppress bounded external disturbances. Effectiveness of the proposed algorithm is verified through simulations.
Original languageEnglish
Pages (from-to)197-203
Number of pages7
JournalInternational Journal of Control, Automation and Systems
Issue number2
Publication statusPublished - 1 Apr 2006
Externally publishedYes


  • Adaptive control
  • Mobile manipulator
  • Neural-fuzzy control
  • Nonholonomic

ASJC Scopus subject areas

  • Control and Systems Engineering

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