Adaptive robust motion/force control of holonomic-constrained nonholonomic mobile manipulators

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Volumn 37, Issue 3, 2007, Pages 607-616

  Li, Zhijun ^a,b,c   Ge, Shuzhi Sam ^b   Ming, Aiguo ^a  

^a UNIVERSITY OF ELECTRO COMMUNICATIONS   (Japan)

^b NATIONAL UNIVERSITY OF SINGAPORE   (Singapore)

^c NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

Author keywords

Holonomic constraint; Motion force control; Nonholonomic mobile manipulators

Indexed keywords

CLOSED LOOP SYSTEMS; COMPUTER SIMULATION; FORCE CONTROL; LYAPUNOV METHODS; MOTION CONTROL; ROBUST CONTROL; UNCERTAIN SYSTEMS;

CONSTRAINT FORCE; MOBILE MANIPULATORS; TRACKING ERRORS;

MANIPULATORS;

ALGORITHM; ARTICLE; ARTIFICIAL INTELLIGENCE; COMPUTER SIMULATION; FEEDBACK SYSTEM; MECHANICAL STRESS; METHODOLOGY; MOTION; ROBOTICS; THEORETICAL MODEL;

ALGORITHMS; ARTIFICIAL INTELLIGENCE; COMPUTER SIMULATION; FEEDBACK; MODELS, THEORETICAL; MOTION; ROBOTICS; STRESS, MECHANICAL;

EID: 34249044795     PISSN: 10834419     EISSN: None     Source Type: Journal    
DOI: 10.1109/TSMCB.2006.888661     Document Type: Article

References (23)

1. V. Pavlov and A. Timofeyev, "Construction and stabilization of programmed movements of a mobile robot-manipulator," Eng. Cybern. vol. 14, no. 6, pp. 70-79, 1976.
2. J. H. Chung and S. A. Velinsky, "Modeling and control of a mobile manipulator," Robotica, vol. 16, no. 6, pp. 607-613, 1998.
3. K. Watanabe, K. Sato, K. Izumi, and Y. Kunitake, "Analysis and control for an omnidirectional mobile manipulator," J. Intell. Robot. Syst. vol. 27, no. 1, pp. 3-20, 2000.
4. Y. Yamamoto and X. Yun, "Coordinating locomotion and manipulation of a mobile manipulator," IEEE Trans. Autom. Control, vol. 39, no. 6, pp. 1326-1332, Jun. 1994.
5. J. Tan, N. Xi, and Y. Wang, "Integrated task planning and control for mobile manipulators," Int. J. Robot. Res., vol. 22, no. 5, pp. 337-354, 2003.
6. Y. Yamamoto and X. Yun, "Effect of the dynamic interaction on coordinated control of mobile manipulators," IEEE Trans. Robot. Autom., vol. 12, no. 5, pp. 816-824, Oct. 1996.
7. O. Khatib, "Mobile manipulation: The robotic assistant," Robot. Auton. Syst., vol. 26, no. 2/3, pp. 175-183, 1999.
8. B. Bayle, J. Y. Fourquet, and M. Renaud, "Manipulability of wheeled mobile manipulators: Application to motion generation," Int. J. Robot. Res., vol. 22, no. 7/8, pp. 565-581, 2003.
9. W. Dong, "On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty," Automatica, vol. 38, no. 9, pp. 1475-1484, 2002.
10. S. S. Ge, Z. Wang, and T. H. Lee, "Adaptive stabilization of uncertain nonholonomic systems by state and output feedback," Automatica, vol. 39, no. 8, pp. 1451-1460, 2003.
11. Z. Wang, C. Su, and S. S. Ge, "Adaptive control of mobile robots including actuator dynamics," in Autonomous Mobile Robots: Sensing, Control, Decision Making and Application, S. S. Ge and F. L. Lewis, Eds. London, U.K.: Taylor & Francis, 2006, pp. 267-293.
12. S. S. Ge, J. Wang, T. H. Lee, and G. Y. Zhou, "Adaptive robust stabilization of dynamic nonholonomic chained systems," J. Robot. Syst., vol. 18, no. 3, pp. 119-133, 2001.
13. Z. Wang, S. S. Ge, and T. H. Lee, "Robust motion/force control of uncertain holonomic/nonholonomic mechanical systems," IEEE/ASME Trans. Mechatron., vol. 9, no. 1, pp. 118-123, Mar. 2004.
14. C. Su and Y. Stepanenko, "Robust motion/force control of mechanical systems with classical nonholonimic constraints," IEEE Trans. Autom. Control, vol. 39, no. 3, pp. 609-614, Mar. 1994.
15. S. S. Ge, T. H. Lee, and C. J. Harris, Adaptive Neural Network Control of Robot Manipulators. Singapore: World Scientific, 1998.
16. C. Kwan, F. L. Lewis, and D. M. Dawson, "Robust neural-network control of rigid-link electrically driven robots," IEEE Trans. Neural Netw. vol. 9, no. 4, pp. 581-588, Jul. 1998.
17. Y. H. Kim and F. L. Lewis, "Neural network output feedback control of robot manipulators," IEEE Trans. Robot. Autom., vol. 15, no. 2, pp. 301-309, Apr. 1999.
18. R. Fierro and F. L. Lewis, "Control of a nonholonomic mobile robot using neural networks," IEEE Trans. Neural Netw., vol. 9, no. 4, pp. 589-600, Jul. 1998.
19. S. S. Ge, C. C. Hang, and L. C. Woon, "Adaptive neural network control of robot manipulators in task space," IEEE Trans. Ind. Electron., vol. 44, no. 6, pp. 746-752, Dec. 1997.
20. L. Huang, S. S. Ge, and T. H. Lee, "Fuzzy unidirectional force control of constrained robotic manipulators," Fuzzy Sets Syst., vol. 134, no. 1, pp. 135-146, 2003.
21. F. Hong, S. S. Ge, F. L. Lewis, and T. H. Lee, "Adaptive neural-fuzzy control of nonholonomic mobile robots," in Autonomous Mobile Robots: Sensing, Control, Decision Making and Application, S. S. Ge and F. L. Lewis, Eds. London, U.K.: Taylor & Francis, 2006, pp. 229-265.
22. S. Lin and A. A. Goldenberg, "Neural-network control of mobile manipulators," IEEE Trans. Neural Netw., vol. 12, no. 5, pp. 1121-1133, Sep. 2001.
23. N. H. McClamroch and D. Wang, "Feedback stabilization and tracking of constrained robots," IEEE Trans. Autom. Control, vol. 33, no. 5, pp. 419-426, May 1988.