Robust Adaptive Control for Mobile Manipulators

Mohamed Boukattaya Tarak Damak Mohamed Jallouli

Mohamed Boukattaya, Tarak Damak, Mohamed Jallouli. Robust Adaptive Control for Mobile Manipulators[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2011, 8(1): 8-13. doi: 10.1007/s11633-010-0548-y
引用本文: Mohamed Boukattaya, Tarak Damak, Mohamed Jallouli. Robust Adaptive Control for Mobile Manipulators[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2011, 8(1): 8-13. doi: 10.1007/s11633-010-0548-y
Mohamed Boukattaya, Tarak Damak and Mohamed Jallouli. Robust Adaptive Control for Mobile Manipulators. International Journal of Automation and Computing, vol. 8, no. 1, pp. 8-13, 2011 doi:  10.1007/s11633-010-0548-y
Citation: Mohamed Boukattaya, Tarak Damak and Mohamed Jallouli. Robust Adaptive Control for Mobile Manipulators. International Journal of Automation and Computing, vol. 8, no. 1, pp. 8-13, 2011 doi:  10.1007/s11633-010-0548-y

Robust Adaptive Control for Mobile Manipulators

doi: 10.1007/s11633-010-0548-y

Robust Adaptive Control for Mobile Manipulators

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    Author Bio:

    Tarak Damak received the electri-cal engineering diploma from the National School of Engineers,University of Sfax

    Corresponding author: Mohamed Boukattaya received the electromechanical engineering diploma from the National School of Engineers,University of Sfax,Tunisia in 2002.
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出版历程
  • 收稿日期:  2009-10-23
  • 修回日期:  2010-04-06
  • 刊出日期:  2011-01-15

Robust Adaptive Control for Mobile Manipulators

doi: 10.1007/s11633-010-0548-y
    作者简介:

    Tarak Damak received the electri-cal engineering diploma from the National School of Engineers,University of Sfax

摘要: This paper addresses the trajectory tracking control of a nonholonomic wheeled mobile manipulator with parameter uncertainties and disturbances. The proposed algorithm adopts a robust adaptive control strategy where parametric uncertainties are compensated by adaptive update techniques and the disturbances are suppressed. A kinematic controller is first designed to make the robot follow a desired end-effector and platform trajectories in task space coordinates simultaneously. Then, an adaptive c...

English Abstract

Mohamed Boukattaya, Tarak Damak, Mohamed Jallouli. Robust Adaptive Control for Mobile Manipulators[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2011, 8(1): 8-13. doi: 10.1007/s11633-010-0548-y
引用本文: Mohamed Boukattaya, Tarak Damak, Mohamed Jallouli. Robust Adaptive Control for Mobile Manipulators[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2011, 8(1): 8-13. doi: 10.1007/s11633-010-0548-y
Mohamed Boukattaya, Tarak Damak and Mohamed Jallouli. Robust Adaptive Control for Mobile Manipulators. International Journal of Automation and Computing, vol. 8, no. 1, pp. 8-13, 2011 doi:  10.1007/s11633-010-0548-y
Citation: Mohamed Boukattaya, Tarak Damak and Mohamed Jallouli. Robust Adaptive Control for Mobile Manipulators. International Journal of Automation and Computing, vol. 8, no. 1, pp. 8-13, 2011 doi:  10.1007/s11633-010-0548-y
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