Adaptive Control of Mobile Manipulators with Nonlinear Friction Cone and Switching Constraints

作者：Liu, Yueyue^*; Zhao, Ting; Li, Zhijun

来源：3rd IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), 2018-07-18 To 2018-07-20.

DOI：10.1109/ICARM.2018.8610685

• Non-minimal order model
• adaptive control
• input saturation
• neural network

A non-minimal order model for mobile manipulation subject to many nonlinear constraints can handle a multi objective control problem. In this paper, the task space controller is designed based on a reduced dynamic model. We present the the fundamental properties of non-minimal order dynamic model. According to this dynamics the adaptive control of mobile manipulation subject to these constraints is proposed, which could deal with uncertain dynamics The input saturation and unknown dynamics are solved by adaptive control which used neural network. Moreover, the non-minimal order dynamics does not need to redesign other controllers while switching front one task to another. We evaluate our method by several experiments, the results demonstrate the validity of the robustness and effectiveness.

• 出版日期2018
• 单位华南理工大学