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Robust adaptive control for mobile manipulators

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Abstract

This paper addresses the trajectory tracking control of a nonholonomic wheeled mobile manipulator with parameter uncertainties and disturbances. The proposed algorithm adopts a robust adaptive control strategy where parametric uncertainties are compensated by adaptive update techniques and the disturbances are suppressed. A kinematic controller is first designed to make the robot follow a desired end-effector and platform trajectories in task space coordinates simultaneously. Then, an adaptive control scheme is proposed, which ensures that the trajectories are accurately tracked even in the presence of external disturbances and uncertainties. The system stability and the convergence of tracking errors to zero are rigorously proven using Lyapunov theory. Simulations results are given to illustrate the effectiveness of the proposed robust adaptive control law in comparison with a sliding mode controller.

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Correspondence to Mohamed Boukattaya.

Additional information

Mohamed Boukattaya received the electromechanical engineering diploma from the National School of Engineers, University of Sfax, Tunisia in 2002. From the same school, he received the master degree in automatic and industrial informatics in 2006. He is currently a researcher in the Control of Industrial Process Unit at the same school.

His research interests include robot control and simulation, especially in mobile manipulators, mobile robotics, and redundant systems.

Tarak Damak received the electrical engineering diploma from the National School of Engineers, University of Sfax, Tunisia in 1989, the D.E.A degree in automatic control from the Institut National des Sciences Appliquées de Toulouse-France in 1990, the Ph.D. degree from the University Paul Sabatier de Toulouse-France in 1994. In 2006, he obtained the University Habilitation from the National School of Engineers, University of Sfax. He is currently a professor at the same school.

His research interests include distributed parameter systems, sliding mode control and observers, and adaptive nonlinear control.

Mohamed Jallouli received the D.E.A degree from University of Valenciennes, France in 1986 in automatics and the Ph.D. degree from University Paris XII, France in 1991, in robotics engineering. He is currently an assistant professor of electric and computer engineering at National School of Engineers, University of Sfax, Tunisia.

His research interests include the implementation of intelligent methods (neural network, fuzzy logic, and genetic algorithm) in robotic and vision system as well as in multisensory data fusion mobile bases.

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Boukattaya, M., Damak, T. & Jallouli, M. Robust adaptive control for mobile manipulators. Int. J. Autom. Comput. 8, 8–13 (2011). https://doi.org/10.1007/s11633-010-0548-y

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  • DOI: https://doi.org/10.1007/s11633-010-0548-y

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