Robust Adaptive Control of Cooperating Mobile Manipulators With Relative Motion
In this paper, coupled dynamics are presented for two cooperating mobile robotic manipulators manipulating an object with relative motion in the presence of uncertainties and external disturbances. Centralized robust adaptive controls are introduced to guarantee the motion, and force trajectories of...
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| Veröffentlicht in: | IEEE transactions on cybernetics 2009-02, Vol.39 (1), p.103-116 |
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| container_title | IEEE transactions on cybernetics |
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| creator | Zhijun Li Pey Yuen Tao Shuzhi Sam Ge Adams, M. Wijesoma, W.S. |
| description | In this paper, coupled dynamics are presented for two cooperating mobile robotic manipulators manipulating an object with relative motion in the presence of uncertainties and external disturbances. Centralized robust adaptive controls are introduced to guarantee the motion, and force trajectories of the constrained object converge to the desired manifolds with prescribed performance. The stability of the closed-loop system and the boundedness of tracking errors are proved using Lyapunov stability synthesis. The tracking of the constraint trajectory/force up to an ultimately bounded error is achieved. The proposed adaptive controls are robust against relative motion disturbances and parametric uncertainties and are validated by simulation studies. |
| doi_str_mv | 10.1109/TSMCB.2008.2002853 |
| format | Article |
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Centralized robust adaptive controls are introduced to guarantee the motion, and force trajectories of the constrained object converge to the desired manifolds with prescribed performance. The stability of the closed-loop system and the boundedness of tracking errors are proved using Lyapunov stability synthesis. The tracking of the constraint trajectory/force up to an ultimately bounded error is achieved. 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| source | IEEE Electronic Library (IEL) |
| subjects | Adaptive control Algorithms Artificial Intelligence Computer Simulation cooperation Cybernetics Disturbances Dynamics End effectors Feedback Force control force/motion Manipulator dynamics Manipulators Mechanical Phenomena mobile manipulators Mobile robots Motion Robot arms Robot kinematics Robotics - methods Robotics and automation Robust control Stability Trajectories Uncertainty |
| title | Robust Adaptive Control of Cooperating Mobile Manipulators With Relative Motion |
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