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 |
|---|---|
| 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