Robust Adaptive Control for Mobile Manipulators

查看全文 作　　者：Mohamed [1]Boukattaya;Tarak [1]Damak;Mohamed [2]Jallouli

机构地区：[1]Control of Industrial Process Unit, National School of Engineers, University of Sfax;[2]Intelligent Control Design and Optimization of Complex Systems Unit, National School of Engineers, University of Sfax

出　　处：《International Journal of Automation and computing》索引2011年第8卷第1期,共6页

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 control scheme is proposed, which ensures that the trajectories are accurately tracked even in the presence of external disturbances and uncertainties. The system stability and the convergence of tracking errors to zero are rigorously proven using Lyapunov theory. Simulations results are given to illustrate the effectiveness of the proposed robust adaptive control law in comparison with a sliding mode controller. 关键词：鲁棒自适应控制轮式移动机器人 LYAPUNOV理论轨迹跟踪控制参数不确定性自适应控制策略不确定性因素自适应控制律

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Robust Adaptive Control for Mobile Manipulators

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