Real-time tip-over prevention and path following control for redundant nonholonomic mobile modular manipulators via fuzzy and neural-fuzzy approaches

Yangmin Li, Yugang Liu

Research output: Journal article publicationJournal articleAcademic researchpeer-review

52 Citations (Scopus)


This paper presents a practical method for automatic tip-over prevention and path following control of a redundant nonholonomic mobile modular manipulator. According to modular robot concept, the mobile platform is treated as a special module attached to the base of the modular manipulator, then an integrated structure is constructed and its dynamic modeling is performed. A new tip-over stability criterion based on the supporting forces is proposed in consideration of inertia, gravity, and acceleration. An online fuzzy logic (FL) self-motion planner and an adaptive neural-fuzzy controller (ANFC) are presented: The former is used to generate desired self-motions in a real-time manner, and the latter is used to prevent the robot from tipping over and to control the end-effector to follow a desired spacial trajectory at the same time. The proposed algorithm does not need any a priori knowledge of dynamic parameters and can suppress bounded external disturbances effectively. Simulation results for a real robot validate the dynamic modeling method and the controller design algorithm.
Original languageEnglish
Pages (from-to)753-764
Number of pages12
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Issue number4
Publication statusPublished - 1 Dec 2006
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Instrumentation
  • Mechanical Engineering
  • Computer Science Applications

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