Adaptive unified motion control of mobile manipulators

作者：Andaluz Victor^*; Roberti Flavio; Marcos Toibero Juan; Carelli Ricardo

来源：Control Engineering Practice, 2012, 20(12): 1337-1352.

DOI：10.1016/j.conengprac.2012.07.008

• Mobile manipulator
• Unified motion control
• Non-linear systems
• Adaptive control
• Stability proof

This paper presents a unified motion controller for mobile manipulators which not only solves the problems of point stabilization and trajectory tracking but also the path following problem. The control problem is solved based on the kinematic model of the robot. Then, a dynamic compensation is considered based on a dynamic model with inputs being the reference velocities to the mobile platform and the manipulator joints. An adaptive controller for on-line updating the robot dynamics is also proposed. Stability and robustness of the complete control system are proved through the Lyapunov method. The performance of the proposed controller is shown through real experiments.

• 出版日期2012-12