On Robust Hybrid Force/Motion Control Strategies Based on Actuator Dynamics for Nonholonomic Mobile Manipulators
Robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. The controls are based on structural knowledge of the dynamics of the robot, and the actuator dynamics is also taken into...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2012-01-01
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| Series: | Journal of Applied Mathematics |
| Online Access: | http://dx.doi.org/10.1155/2012/920260 |
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| _version_ | 1849695840160972800 |
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| author | Yongxin Zhu Liping Fan |
| author_facet | Yongxin Zhu Liping Fan |
| author_sort | Yongxin Zhu |
| collection | DOAJ |
| description | Robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. The controls are based on structural knowledge of the dynamics of the robot, and the actuator dynamics is also taken into account. The proposed control is robust not only to structured uncertainty such as mass variation but also to unstructured one such as disturbances. The system stability and the boundness of tracking errors are proved using Lyapunov stability theory. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance. Simulation results validate that not only the states of the system asymptotically converge to the desired trajectory, but also the constraint force asymptotically converges to the desired force. |
| format | Article |
| id | doaj-art-ccbafc78aa6f4d4fa3fdeeb865e15474 |
| institution | DOAJ |
| issn | 1110-757X 1687-0042 |
| language | English |
| publishDate | 2012-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Applied Mathematics |
| spelling | doaj-art-ccbafc78aa6f4d4fa3fdeeb865e154742025-08-20T03:19:38ZengWileyJournal of Applied Mathematics1110-757X1687-00422012-01-01201210.1155/2012/920260920260On Robust Hybrid Force/Motion Control Strategies Based on Actuator Dynamics for Nonholonomic Mobile ManipulatorsYongxin Zhu0Liping Fan1School of Microelectronics, Shanghai Jiao Tong University, Shanghai 200240, ChinaSchool of Microelectronics, Shanghai Jiao Tong University, Shanghai 200240, ChinaRobust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. The controls are based on structural knowledge of the dynamics of the robot, and the actuator dynamics is also taken into account. The proposed control is robust not only to structured uncertainty such as mass variation but also to unstructured one such as disturbances. The system stability and the boundness of tracking errors are proved using Lyapunov stability theory. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance. Simulation results validate that not only the states of the system asymptotically converge to the desired trajectory, but also the constraint force asymptotically converges to the desired force.http://dx.doi.org/10.1155/2012/920260 |
| spellingShingle | Yongxin Zhu Liping Fan On Robust Hybrid Force/Motion Control Strategies Based on Actuator Dynamics for Nonholonomic Mobile Manipulators Journal of Applied Mathematics |
| title | On Robust Hybrid Force/Motion Control Strategies Based on Actuator Dynamics for Nonholonomic Mobile Manipulators |
| title_full | On Robust Hybrid Force/Motion Control Strategies Based on Actuator Dynamics for Nonholonomic Mobile Manipulators |
| title_fullStr | On Robust Hybrid Force/Motion Control Strategies Based on Actuator Dynamics for Nonholonomic Mobile Manipulators |
| title_full_unstemmed | On Robust Hybrid Force/Motion Control Strategies Based on Actuator Dynamics for Nonholonomic Mobile Manipulators |
| title_short | On Robust Hybrid Force/Motion Control Strategies Based on Actuator Dynamics for Nonholonomic Mobile Manipulators |
| title_sort | on robust hybrid force motion control strategies based on actuator dynamics for nonholonomic mobile manipulators |
| url | http://dx.doi.org/10.1155/2012/920260 |
| work_keys_str_mv | AT yongxinzhu onrobusthybridforcemotioncontrolstrategiesbasedonactuatordynamicsfornonholonomicmobilemanipulators AT lipingfan onrobusthybridforcemotioncontrolstrategiesbasedonactuatordynamicsfornonholonomicmobilemanipulators |