×

Hybrid adaptive control laws solving a path following problem for non-holonomic mobile manipulators. (English) Zbl 1067.93044

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.

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
PDFBibTeX XMLCite
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.