Adaptive Tracking Control of Mobile Manipulators with Affine Constraints and Under-actuated Joints
文献类型：期刊论文
| 作者 | Wei Sun2 ; Wen-Xing Yuan2; Yu-Qiang Wu1
|
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 2018 |
| 卷号 | 15期号:6页码:728-735 |
| 关键词 | Tracking control affine constraints mobile manipulators under-actuated joints dynamic coupling. |
| ISSN号 | 1476-8186 |
| DOI | 10.1007/s11633-015-0934-6 |
| 英文摘要 | Adaptive motion/force tracking control is considered for a class of mobile manipulators with affine constraints and underactuated joints in the presence of uncertainties in this paper. Dynamic equation of mobile manipulator is transformed into a controllable form based on dynamic coupling technique. In view of the asymptotic tracking idea and adaptive theory, adaptive controllers are proposed to achieve the desired control objective. Detailed simulation results confirm the validity of the control strategy. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42447]  |
| 专题 | 自动化研究所_学术期刊_International Journal of Automation and Computing |
| 作者单位 | 1.Institute of Automation, Qufu Normal University, Qufu 273165, China 2.School of Mathematics Science, Liaocheng University, Liaocheng 252000, China |
| 推荐引用方式 GB/T 7714 | Wei Sun,Wen-Xing Yuan,Yu-Qiang Wu. Adaptive Tracking Control of Mobile Manipulators with Affine Constraints and Under-actuated Joints[J]. International Journal of Automation and Computing,2018,15(6):728-735. |
| APA | Wei Sun,Wen-Xing Yuan,&Yu-Qiang Wu.(2018).Adaptive Tracking Control of Mobile Manipulators with Affine Constraints and Under-actuated Joints.International Journal of Automation and Computing,15(6),728-735. |
| MLA | Wei Sun,et al."Adaptive Tracking Control of Mobile Manipulators with Affine Constraints and Under-actuated Joints".International Journal of Automation and Computing 15.6(2018):728-735. |
入库方式： OAI收割
来源：自动化研究所
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