Robust Adaptive Control for Mobile Manipulators

Mohamed Boukattaya; Tarak Damak; Mohamed Jallouli

doi:10.1007/s11633-010-0548-y

Robust Adaptive Control for Mobile Manipulators

doi: 10.1007/s11633-010-0548-y

1.
Control of Industrial Process Unit, National School of Engineers, University of Sfax, BP 1173, Sfax 3038, Tunisia;
2.
Intelligent Control Design and Optimization of Complex Systems Unit, National School of Engineers, University of Sfax, BP 1173, Sfax 3038, Tunisia

Robust Adaptive Control for Mobile Manipulators

1.
Control of Industrial Process Unit, National School of Engineers, University of Sfax, BP 1173, Sfax 3038, Tunisia;
2.
Intelligent Control Design and Optimization of Complex Systems Unit, National School of Engineers, University of Sfax, BP 1173, Sfax 3038, Tunisia

More Information

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.

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...
- Mobile manipulator /
- trajectory tracking /
- robust adaptive control /
- sliding mode control /
- uncertainties and disturbances
Abstract: 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...
- Mobile manipulator /
- trajectory tracking /
- robust adaptive control /
- sliding mode control /
- uncertainties and disturbances

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Robust Adaptive Control for Mobile Manipulators

doi: 10.1007/s11633-010-0548-y

Robust Adaptive Control for Mobile Manipulators

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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Robust Adaptive Control for Mobile Manipulators

doi: 10.1007/s11633-010-0548-y

1. Control of Industrial Process Unit, National School of Engineers, University of Sfax, BP 1173, Sfax 3038, Tunisia;

2. Intelligent Control Design and Optimization of Complex Systems Unit, National School of Engineers, University of Sfax, BP 1173, Sfax 3038, Tunisia

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

English Abstract

Robust Adaptive Control for Mobile Manipulators

1. Control of Industrial Process Unit, National School of Engineers, University of Sfax, BP 1173, Sfax 3038, Tunisia;

2. Intelligent Control Design and Optimization of Complex Systems Unit, National School of Engineers, University of Sfax, BP 1173, Sfax 3038, Tunisia

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.

全文HTML

目录

Robust Adaptive Control for Mobile Manipulators

doi: 10.1007/s11633-010-0548-y

Robust Adaptive Control for Mobile Manipulators

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

Robust Adaptive Control for Mobile Manipulators

doi: 10.1007/s11633-010-0548-y

1. Control of Industrial Process Unit, National School of Engineers, University of Sfax, BP 1173, Sfax 3038, Tunisia; 2. Intelligent Control Design and Optimization of Complex Systems Unit, National School of Engineers, University of Sfax, BP 1173, Sfax 3038, Tunisia

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

English Abstract

Robust Adaptive Control for Mobile Manipulators

1. Control of Industrial Process Unit, National School of Engineers, University of Sfax, BP 1173, Sfax 3038, Tunisia; 2. Intelligent Control Design and Optimization of Complex Systems Unit, National School of Engineers, University of Sfax, BP 1173, Sfax 3038, Tunisia

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.

全文HTML

目录

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

1. Control of Industrial Process Unit, National School of Engineers, University of Sfax, BP 1173, Sfax 3038, Tunisia;

2. Intelligent Control Design and Optimization of Complex Systems Unit, National School of Engineers, University of Sfax, BP 1173, Sfax 3038, Tunisia

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

1. Control of Industrial Process Unit, National School of Engineers, University of Sfax, BP 1173, Sfax 3038, Tunisia;

2. Intelligent Control Design and Optimization of Complex Systems Unit, National School of Engineers, University of Sfax, BP 1173, Sfax 3038, Tunisia

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