Mazur, Alicja Hybrid adaptive control laws solving a path following problem for non-holonomic mobile manipulators. (English) Zbl 1067.93044 Int. J. Control 77, No. 15, 1297-1306 (2004). The goal is to find a control law guaranteeing the proper cooperation between a mobile platform and a rigid manipulator mounted on the platform. The rigid manipulator has to follow a prescribed trajectory, while the platform must follow a prescribed path. The path following problem for mobile manipulators with restricted mobility (non-holonomic constraints) is transformed into a driftless control system which can be treated then by existing control algorithms. The asymptotic stability of the presented control procedure is discussed. Reviewer: Kurt Marti (Neubiberg/München) Cited in 6 Documents MSC: 93C85 Automated systems (robots, etc.) in control theory 70B15 Kinematics of mechanisms and robots 70F25 Nonholonomic systems related to the dynamics of a system of particles 90C40 Markov and semi-Markov decision processes Keywords:mobile robot; cooperation; mobile platform; rigid manipulator; path following; non-holonomic constraints PDFBibTeX XMLCite \textit{A. Mazur}, Int. J. Control 77, No. 15, 1297--1306 (2004; Zbl 1067.93044) Full Text: DOI References: [1] Canudas de Wit C, Theory of Robot Control (1990) · Zbl 0795.93063 [2] Caracciolo L, Proceedings of the IEEE International Conference on Robotics and Automation pp 2632– (1999) [3] DOI: 10.1002/rnc.4590050403 · Zbl 0837.93046 · doi:10.1002/rnc.4590050403 [4] DOI: 10.1080/00207178508933432 · Zbl 0587.93030 · doi:10.1080/00207178508933432 [5] Dulęba I, Proceedings of the SYROCO’ 2000 pp 687– (2000) [6] DOI: 10.1080/00207179508921959 · Zbl 0838.93022 · doi:10.1080/00207179508921959 [7] DOI: 10.1007/978-94-015-9261-1 · doi:10.1007/978-94-015-9261-1 [8] DOI: 10.1109/9.746253 · Zbl 0978.93046 · doi:10.1109/9.746253 [9] DOI: 10.1016/0167-6911(93)90091-J · Zbl 0793.93042 · doi:10.1016/0167-6911(93)90091-J [10] Kozłowski K, Archives of Control Sciences 12 pp 37– (2002) [11] Krstić M, Nonlinear and Adaptive Control Design, J. Wiley and Sons (1995) [12] Lee TC, Proceedings of the CDC’99 pp 1254– (1999) [13] Mazur A, Modelling of nonholonomic mobile manipulators (1999) [14] DOI: 10.1109/70.917082 · doi:10.1109/70.917082 [15] DOI: 10.1109/TRA.2002.807528 · doi:10.1109/TRA.2002.807528 [16] DOI: 10.1016/0167-6911(92)90019-O · Zbl 0744.93084 · doi:10.1016/0167-6911(92)90019-O [17] DOI: 10.1177/027836499301200104 · doi:10.1177/027836499301200104 [18] DOI: 10.1109/9.362899 · Zbl 0925.93631 · doi:10.1109/9.362899 [19] DOI: 10.1109/ROBOT.1991.131748 · doi:10.1109/ROBOT.1991.131748 [20] DOI: 10.1109/9.14411 · Zbl 0664.93045 · doi:10.1109/9.14411 [21] DOI: 10.1007/978-1-4020-2249-4_50 · doi:10.1007/978-1-4020-2249-4_50 [22] DOI: 10.1109/ROBOT.2004.1302441 · doi:10.1109/ROBOT.2004.1302441 [23] DOI: 10.1109/70.538986 · doi:10.1109/70.538986 This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. In some cases that data have been complemented/enhanced by data from zbMATH Open. This attempts to reflect the references listed in the original paper as accurately as possible without claiming completeness or a perfect matching.