Robust adaptive neural fuzzy control for autonomous redundant non-holonomic mobile modular manipulators

Yangmin Li, Yugang Liu

Research output: Journal article publicationJournal articleAcademic researchpeer-review

3 Citations (Scopus)

Abstract

This paper discusses the trajectory-following issues for autonomous redundant non-holonomic mobile modular manipulators. An integrated dynamic modelling method is proposed. A Robust Adaptive Neural Fuzzy Controller (RANFC) is presented to control the end-effector to follow desired spacial trajectories. The proposed algorithm provides a new solution to stabilise redundant robotic self-motions. The RANFC does not need precise a priori dynamic parameters and can suppress bounded external disturbance. Furthermore, the RANFC does not need any off-line training phases and can incorporate human expert knowledge easily. Simulation results for a real mobile modular manipulator validate the proposed algorithm.
Original languageEnglish
Pages (from-to)268-284
Number of pages17
JournalInternational Journal of Vehicle Autonomous Systems
Volume4
Issue number2-4
Publication statusPublished - 1 Dec 2006
Externally publishedYes

Keywords

  • Adaptive control
  • Mobile manipulator
  • Modular manipulator
  • Non-holonomic
  • Redundant robot
  • Robust control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Automotive Engineering
  • Electrical and Electronic Engineering

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