控制理论(社会学)
完整的
移动机械手
非完整系统
Lyapunov稳定性
李雅普诺夫函数
控制器(灌溉)
运动学
移动机器人
计算机科学
自适应控制
有界函数
理论(学习稳定性)
稳健性(进化)
跟踪(教育)
一致有界性
控制工程
工程类
数学
机器人
控制(管理)
人工智能
非线性系统
化学
基因
数学分析
物理
机器学习
农学
生物
经典力学
量子力学
生物化学
教育学
心理学
作者
Jinzhu Peng,Jing Yu,Jie Wang
标识
DOI:10.1016/j.isatra.2014.05.012
摘要
In this paper, mobile manipulator is divided into two subsystems, that is, nonholonomic mobile platform subsystem and holonomic manipulator subsystem. First, the kinematic controller of the mobile platform is derived to obtain a desired velocity. Second, regarding the coupling between the two subsystems as disturbances, Lyapunov functions of the two subsystems are designed respectively. Third, a robust adaptive tracking controller is proposed to deal with the unknown upper bounds of parameter uncertainties and disturbances. According to the Lyapunov stability theory, the derived robust adaptive controller guarantees global stability of the closed-loop system, and the tracking errors and adaptive coefficient errors are all bounded. Finally, simulation results show that the proposed robust adaptive tracking controller for nonholonomic mobile manipulator is effective and has good tracking capacity.
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