Robust control of mobile manipulators

Journal of Robotic Systems

Volumn 13, Issue 11, 1996, Pages 699-708

  Tahboub, Karim A ^a  

^a Coll of Engineering and Technology ^*  (Palestine)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL SYSTEM SYNTHESIS; MANIPULATORS; MOBILE ROBOTS; ROBUSTNESS (CONTROL SYSTEMS); VEHICLES;

DISTURBANCE; MANIPULATOR DECOUPLING CONTROLLER;

ROBOTICS;

EID: 0030282719     PISSN: 07412223     EISSN: None     Source Type: Journal    
DOI: 10.1002/(SICI)1097-4563(199611)13:11<699::AID-ROB2>3.0.CO;2-Q     Document Type: Article

References (11)

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2. G. Campion, G. Bastin, and B. d'Andrea-Novel, "Structural properties and classification of kinematic and dynamic models of wheeled mobile robots," IEEE Trans. Rob. Autom. 12(1), 47-62, 1996.
3. L. Kolmanovsky and H. McClamroch, "Developments in nonholonomic control problems," IEEE Control Syst. Mag. 15(6), 20-36, 1995.
4. B. Andrea-Novel, G. Campion, and G. Bastin, "Control of nonholonomic wheeled mobile robots by state feedback linearizaton," Int. J. Rob. Res. 14(6), 543-559, 1995.
5. J. Laumond, P. Jacobs, M. Taix, and R. Murray, "A motion planner for nonholonomic mobile robots," IEEE Trans. Rob. Autom. 10(5), 577-593, 1994
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7. P. C. Müller, "Schätzung und kompensation von nichtlinearitäten," VDI Bericht, 1026, VDI-Verlag, Düsseldorf, 1993.
8. B. Friedland, Control System Design: An Introduction to State-Space Methods, McGraw-Hill, New York 1986 pp. 421-455.
9. C. A. Desoer and Y. T. Wang, "Linear time-invariant robust servomechanism problem: A self-contained exposition," in Control and Dynamic Systems, C. T. Leondes, ed., Academic Press, New York, 1980, Vol. 16, pp. 81-129.
10. The Math Works, Inc., MATLAB User's Guide, Natick, MA, 1994.
11. K. A. Tahboub, Modeling and Control of Constrained Robots, VDI-Fortschrittsberichte, VDI-Verlag, Düsseldorf, 1993.