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Adaptive Tracking Control of Mobile Manipulators with Affine Constraints and Under-actuated Joints

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Abstract

Adaptive motion/force tracking control is considered for a class of mobile manipulators with affine constraints and under-actuated joints in the presence of uncertainties in this paper. Dynamic equation of mobile manipulator is transformed into a controllable form based on dynamic coupling technique. In view of the asymptotic tracking idea and adaptive theory, adaptive controllers are proposed to achieve the desired control objective. Detailed simulation results confirm the validity of the control strategy.

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Acknowledgements

This work was supported by National Natural Science Foundation of China (Nos. 61273091 and 61403228), Project of Taishan Scholar of Shandong Province of China, and Ph. D. Programs Foundation of Ministry of Education of China (No. 20123705110002).

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Authors and Affiliations

  1. School of Mathematics Science, Liaocheng University, Liaocheng, 252000, China

    Wei Sun & Wen-Xing Yuan

  2. Institute of Automation, Qufu Normal University, Qufu, 273165, China

    Yu-Qiang Wu

Authors
  1. Wei Sun
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  2. Wen-Xing Yuan
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  3. Yu-Qiang Wu
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Corresponding author

Correspondence to Wei Sun.

Additional information

Recommended by Associate Editor Jangmyung Lee

Wei Sun received the M. Sc. degree in operation research and control theory from Qufu Normal University, China in 2011, and the Ph.D. degree from Southeast University, China in 2014. He is a lecturer in the School of Mathematics science, Liaocheng University, China.

His research interests include nonlinear system control, adaptive theory and nonholonomic systems control.

Wen-Xing Yuan received the M. Sc. degree from Capital Normal University, China in 2012. She is a lecturer in the School of Mathematics Science, Liaocheng University, China.

Her research interests include system control techniques and their application.

Yu-Qiang Wu received the M. Sc. degree from Qufu Normal University, China in 1988 and the Ph.D. degree from Southeast University, China in 1994. He is currently a professor in the Institute of Automation, Qufu Normal University, China.

His research interests include variable structure control, switching control, nonlinear system control, and process control.

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Sun, W., Yuan, WX. & Wu, YQ. Adaptive Tracking Control of Mobile Manipulators with Affine Constraints and Under-actuated Joints. Int. J. Autom. Comput. 15, 728–735 (2018). https://doi.org/10.1007/s11633-015-0934-6

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  • DOI: https://doi.org/10.1007/s11633-015-0934-6

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