Adaptive robust output-feedback motion/force control of electrically driven nonholonomic mobile manipulators

IEEE Transactions on Control Systems Technology

Volumn 16, Issue 6, 2008, Pages 1308-1315

  Li, Zhijun ^a,b   Ge, Shuzhi Sam ^a   Adams, Martin ^c   Wijesoma, Wijerupage Sardha ^c  

^a NATIONAL UNIVERSITY OF SINGAPORE   (Singapore)

^b SHANGHAI JIAO TONG UNIVERSITY   (China)

^c NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

Author keywords

Actuators dynamics; Motion force control; Nonholonomic mobile manipulators; Output feedback

Indexed keywords

ACTUATORS; CONTROL THEORY; DYNAMICS; KETONES; MANIPULATORS; SYSTEM STABILITY;

BOUNDEDNESS; CONSTRAINT FORCES; CONTROL STRATEGIES; EXTERNAL-; LINEAR OBSERVERS; LYAPUNOV STABILITIES; MASS VARIATIONS; MOBILE MANIPULATORS; MOTION/FORCE CONTROL; NONHOLONOMIC CONSTRAINTS; NONHOLONOMIC MOBILE MANIPULATORS; OBSERVATION ERRORS; OUTPUT FEEDBACK; OUTPUT FEEDBACKS; PARAMETRIC UNCERTAINTIES; SIMULATION RESULTS; STRUCTURAL KNOWLEDGES;

FEEDBACK;

EID: 55349100172     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2008.917228     Document Type: Article

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