科研之友
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摘要
In this paper, modeling and adaptive motion/force tracking control is considered for a class of mobile manipulators under the holonomic and affine constraints with the presence of uncertainties and disturbances. Based on a suitable reduced dynamic model, adaptive controllers are proposed to ensure that the states of a closed-loop system asymptotically track desired trajectories while the constraint force remains bounded by tuning design parameters. Detailed simulation results confirm the effectiveness of the control strategy.
