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Adaptive Integrated Control for Omnidirectional Mobile Manipulators Based on Neural-Network

Adaptive Integrated Control for Omnidirectional Mobile Manipulators Based on Neural-Network

Xiang-min Tan, Dongbin Zhao, Jianqiang Yi, Dong Xu
Copyright: © 2009 |Volume: 3 |Issue: 4 |Pages: 20
ISSN: 1557-3958|EISSN: 1557-3966|ISSN: 1557-3958|EISBN13: 9781616920661|EISSN: 1557-3966|DOI: 10.4018/jcini.2009062303
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MLA

Tan, Xiang-min, et al. "Adaptive Integrated Control for Omnidirectional Mobile Manipulators Based on Neural-Network." IJCINI vol.3, no.4 2009: pp.34-53. http://doi.org/10.4018/jcini.2009062303

APA

Tan, X., Zhao, D., Yi, J., & Xu, D. (2009). Adaptive Integrated Control for Omnidirectional Mobile Manipulators Based on Neural-Network. International Journal of Cognitive Informatics and Natural Intelligence (IJCINI), 3(4), 34-53. http://doi.org/10.4018/jcini.2009062303

Chicago

Tan, Xiang-min, et al. "Adaptive Integrated Control for Omnidirectional Mobile Manipulators Based on Neural-Network," International Journal of Cognitive Informatics and Natural Intelligence (IJCINI) 3, no.4: 34-53. http://doi.org/10.4018/jcini.2009062303

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Abstract

An omnidirectional mobile manipulator, due to its large-scale mobility and dexterous manipulability, has attracted lots of attention in the last decades. However, modeling and control of such systems are very challenging because of their complicated mechanism. In this article, an unified dynamic model is developed by Lagrange Formalism. In terms of the proposed model, an adaptive integrated tracking controller, based on the computed torque control (CTC) method and the radial basis function neural-network (RBFNN), is presented subsequently. Although CTC is an effective motion control strategy for mobile manipulators, it requires precise models. To handle the unmodeled dynamics and the external disturbance, a RBFNN, serving as a compensator, is adopted. This proposed controller combines the advantages of CTC and RBFNN. Simulation results show the correctness of the proposed model and the effectiveness of the control approach.

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