Adaptive Tracking Control of Mobile Manipulators with Affine Constraints and Under-actuated Joints

doi:10.1007/s11633-015-0934-6

CASIA OpenIR > 学术期刊 > Machine Intelligence Research

	Adaptive Tracking Control of Mobile Manipulators with Affine Constraints and Under-actuated Joints
	Wei Sun1 ; Wen-Xing Yuan 1; Yu-Qiang Wu 2
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2018
卷号	15 期号:6 页码:728-735
摘要	Adaptive motion/force tracking control is considered for a class of mobile manipulators with affine constraints and underactuated 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.
关键词	Tracking control affine constraints mobile manipulators under-actuated joints dynamic coupling.
DOI	10.1007/s11633-015-0934-6
引用统计	被引频次：7[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42447
专题	学术期刊_Machine Intelligence Research
作者单位	1.School of Mathematics Science, Liaocheng University, Liaocheng 252000, China 2.Institute of Automation, Qufu Normal University, Qufu 273165, China
推荐引用方式 GB/T 7714	Wei Sun,Wen-Xing Yuan,Yu-Qiang Wu. Adaptive Tracking Control of Mobile Manipulators with Affine Constraints and Under-actuated Joints[J]. International Journal of Automation and Computing,2018,15(6):728-735.
APA	Wei Sun,Wen-Xing Yuan,&Yu-Qiang Wu.(2018).Adaptive Tracking Control of Mobile Manipulators with Affine Constraints and Under-actuated Joints.International Journal of Automation and Computing,15(6),728-735.
MLA	Wei Sun,et al."Adaptive Tracking Control of Mobile Manipulators with Affine Constraints and Under-actuated Joints".International Journal of Automation and Computing 15.6(2018):728-735.

条目包含的文件		下载所有文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
IJAC-2014-11-329.pdf（1090KB）	期刊论文	出版稿	开放获取	CC BY-NC-SA	浏览下载