Wei Sun, Wen-Xing Yuan and Yu-Qiang Wu. Adaptive Tracking Control of Mobile Manipulators with affine Constraints and Under-actuated Joint. International Journal of Automation and Computing, vol. 15, no. 6, pp. 728-735, 2018. DOI: 10.1007/s11633-015-0934-6
Citation: Wei Sun, Wen-Xing Yuan and Yu-Qiang Wu. Adaptive Tracking Control of Mobile Manipulators with affine Constraints and Under-actuated Joint. International Journal of Automation and Computing, vol. 15, no. 6, pp. 728-735, 2018. DOI: 10.1007/s11633-015-0934-6

Adaptive Tracking Control of Mobile Manipulators with affine Constraints and Under-actuated Joint

  • Adaptive motion/force tracking control is considered for a class of mobile manipulators with affine constraints and under-actuated joints in the presence of uncertainties in this paper.Dynamic equation of mobile manipulator is transformed into a controllable form based on dynamic coupling technique.In view of the asymptotic tracking idea and adaptive theory, adaptive controllers are proposed to achieve the desired control objective. Detailed simulation results confirm the validity of the control strategy.
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