Abstract
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 language | English |
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Pages (from-to) | 197-203 |
Number of pages | 7 |
Journal | International Journal of Control, Automation and Systems |
Volume | 4 |
Issue number | 2 |
Publication status | Published - 1 Apr 2006 |
Externally published | Yes |
Keywords
- Adaptive control
- Mobile manipulator
- Neural-fuzzy control
- Nonholonomic
ASJC Scopus subject areas
- Control and Systems Engineering