A Study on Adaptive Tracking Control of a Mobile Manipulator for Contour Following

궤도추종을 위한 메니퓰레이터의 적응 추종 제어에 관한 연구

In this paper, we propose an adaptive tracking control method of a mobile manipulator for contour following with a kinematic model to have several unknown dimension parameters. Moreover, we will use the decentralized control method to design two independent controllers for two subsystems. The proposed controllers in this paper are based on the Lyapunov function in order to guarantee the stability of whole system for contour following task. The updated laws are also designed to estimated the unknown dimension parameters. Finally, the simulation results are presented to show the validity of the proposed controllers in this paper.