Hybrid robust tracking control for a mobile manipulator via sliding-mode neural network

Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05

Volumn 2005, Issue , 2005, Pages 537-542

  Cheng, Meng Bi ^a   Tsai, Ching Chih ^a  

^a NATIONAL CHUNG HSING UNIVERSITY   (Taiwan)

Author keywords

Backstepping; Mobile manipulator; Mobile robot; Neural network; Sliding mode control

Indexed keywords

ASYMPTOTIC STABILITY; COMPUTATIONAL METHODS; COMPUTER SIMULATION; CONTROL SYSTEMS; KINEMATICS; MECHATRONICS; NEURAL NETWORKS; ROBUSTNESS (CONTROL SYSTEMS); TRACKING (POSITION);

BACKSTEPPING; MOBILE MANIPULATOR; SLIDING-MODE CONTROL; SLIDING-MODE NEURAL NETWORKS (SMNN);

MOBILE ROBOTS;

EID: 33748911813     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICMECH.2005.1529315     Document Type: Conference Paper

References (10)

1. G. T. Herbert, K. J. Kyriakopoulos, and N. J. Krikelis," Modeling of multiple mobile manipulators handling a common deformable object," Journal of Robotic Systems, vol. 15, no.11, pp.599-623, Nov 1998.
2. Q. Yu and I-M. Chen, "A General Approach to the Dynamics of Nonholonomic Mobile Manipulator Systems," Journal of Dynamic Systems Measurement and Control, vol.124, no.4, pp.512-611, Dec. 2002.
3. Y. Yamamoto and X. Yun, "Coordinating locomotion and manipulation of a mobile manipulator," IEEE Trans. on Automatic Control, vol. 39, no. 6, pp. 1326-1332, June 1994.
4. Y. Yamamoto and X. Yun, "Effect of the dynamic interaction on coordinated control of mobile manipulators," IEEE Trans. on Automatic Control, vol. 12, no. 5, pp.816-824, Oct 1990.
5. W. Dong,"On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty," Automatica, vol.38, no.9, pp. 1475-1484, Sept. 2002.
6. S. Lin and A. A. Goldenberg, "Neural-network control of mobile manipulators," IEEE Trans. on Neural Networks, vol. 12, no.5, pp.1121-1133, Sept. 2001.
7. C.Y. Lee, T. D. Eom, and J. J. Lee," Neuro-adaptive control of mobile manipulators based on compensation of approximation error," Electronics Letters, vol.38, no. 16, pp.935-936, Aug. 2002.
8. M. P. Cheng and C. C. Tsai, 'Dynamic modeling and tracking control of a nonholonomic wheeled mobile manipulator with two robotic arms,' in Proc. 42nd IEEE Conference on Decision and Control, Vol. 3, 2003, pp.2932-2937.
9. R.J. Wai, "Tracking control based on neural network strategy for robot manipulator," Neurocomputing, vol.51, pp 425-445, 2003.
10. R. Fierro, and F. L. Lewis, "Control of a nonholonomic mobile robot:backstepping kinematics into dynamic," in Proc. 34nd IEEE Conference on Decision and Control, 1995, pp.3805-3810.