International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Dynamic Modeling and Adaptive Neural-Fuzzy Control for Nonholonomic Mobile Manipulators Moving on a Slope

  • Liu Yugang (Faculty of Science and Technology, University of Macau) ;
  • Li Yangmin (Faculty of Science and Technology, University of Macau)
  • Published : 2006.04.01
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Abstract

This paper addresses dynamic modeling and task-space trajectory following issues for nonholonomic mobile manipulators moving on a slope. An integrated dynamic modeling method is proposed considering nonholonomic constraints and interactive motions. An adaptive neural-fuzzy controller is presented for end-effector trajectory following, which does not rely on precise apriori knowledge of dynamic parameters and can suppress bounded external disturbances. Effectiveness of the proposed algorithm is verified through simulations.

Keywords

References

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