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

doi:10.1007/s11633-015-0934-6

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	Adaptive Tracking Control of Mobile Manipulators with Affine Constraints and Under-actuated Joints
	Wei Sun 2; Wen-Xing Yuan 2; Yu-Qiang Wu 1
刊名	International Journal of Automation and Computing
	2018
卷号	15 期号:6 页码:728-735
关键词	Tracking control affine constraints mobile manipulators under-actuated joints dynamic coupling.
ISSN号	1476-8186
DOI	10.1007/s11633-015-0934-6
英文摘要	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.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/42447]
专题	自动化研究所_学术期刊_International Journal of Automation and Computing
作者单位	1.Institute of Automation, Qufu Normal University, Qufu 273165, China 2.School of Mathematics Science, Liaocheng University, Liaocheng 252000, 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.