Adaptive motion/force control of mobile under-actuated manipulators with dynamics uncertainties by dynamic coupling and output feedback / Zhijun Li in IEEE Transactions on control systems technology, Vol. 18 N° 5 (Septembre 2010)  

Public ISBD [article]  inIEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp 1068-1079 Titre : Adaptive motion/force control of mobile under-actuated manipulators with dynamics uncertainties by dynamic coupling and output feedback Type de document : texte imprimé Auteurs : Zhijun Li, Auteur ; Yipeng Yang, Auteur ; Jianxun Li, Auteur Année de publication : 2011 Article en page(s) : pp 1068-1079 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Adaptive control Dynamic coupling Mobile manipulator Under-actuated joint Index. décimale : 629.1 Résumé : In this paper, adaptive motion/force control by dynamic coupling and output feedback is considered for nonholonomic mobile manipulators with an under-actuated joint, in the presence of parametric and functional uncertainties. It is obvious that the constraints of the system consist of kinematic constraints for the mobile platform and dynamic constraints for the under-actuated joint. Through using dynamic coupling property of nonholonomic mobile under-actuated manipulators, adaptive output feedback control is investigated for the system by using a high gain observer to reconstruct the system states, whose states and time derivatives of the output are unavailable. Moreover, the nonholonomic constraint force between the wheels and the ground is also considered in the control design such that the slipping or slippage is avoided during the motion. It is shown that output tracking errors of motion and force converge to adjustable neighborhoods of the origin for the output feedback control. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5291705 [article] Adaptive motion/force control of mobile under-actuated manipulators with dynamics uncertainties by dynamic coupling and output feedback [texte imprimé] / Zhijun Li, Auteur ; Yipeng Yang, Auteur ; Jianxun Li, Auteur . - 2011 . - pp 1068-1079. Génie Aérospatial Langues : Anglais (eng) in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp 1068-1079 Mots-clés : Adaptive control Dynamic coupling Mobile manipulator Under-actuated joint Index. décimale : 629.1 Résumé : In this paper, adaptive motion/force control by dynamic coupling and output feedback is considered for nonholonomic mobile manipulators with an under-actuated joint, in the presence of parametric and functional uncertainties. It is obvious that the constraints of the system consist of kinematic constraints for the mobile platform and dynamic constraints for the under-actuated joint. Through using dynamic coupling property of nonholonomic mobile under-actuated manipulators, adaptive output feedback control is investigated for the system by using a high gain observer to reconstruct the system states, whose states and time derivatives of the output are unavailable. Moreover, the nonholonomic constraint force between the wheels and the ground is also considered in the control design such that the slipping or slippage is avoided during the motion. It is shown that output tracking errors of motion and force converge to adjustable neighborhoods of the origin for the output feedback control. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5291705

Exemplaires

Code-barres	Cote	Support	Localisation	Section	Disponibilité
aucun exemplaire