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Modeling and finite-time tracking control for mobile manipulators with affine and holonomic constraints

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Abstract

This paper focuses on the problem of modeling and finite-time tracking control for mobile manipulators with affine and holonomic constraints. A reduced dynamic model is obtained by appropriately processing affine and holonomic constraints, respectively. Then finite-time tracking controllers are designed to ensure that output tracking errors of closed-loop system converge to zero in finite time while the constraint force remains bounded. Finally, detailed simulation results are provided to confirm the effectiveness of the control strategy.

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Authors and Affiliations

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

    Wei Sun & Yuqiang Wu

Authors
  1. Wei Sun
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  2. Yuqiang Wu
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Corresponding author

Correspondence to Wei Sun.

Additional information

This work was supported by the National Natural Science Foundation of China under Grant Nos. 61273091 and 61573177, and the Project of Taishan Scholar of Shandong Province.

This paper was recommended for publication by Editor JIANG Zhongping.

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Sun, W., Wu, Y. Modeling and finite-time tracking control for mobile manipulators with affine and holonomic constraints. J Syst Sci Complex 29, 589–601 (2016). https://doi.org/10.1007/s11424-016-4183-8

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  • DOI: https://doi.org/10.1007/s11424-016-4183-8

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