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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)
Publication Information
International Journal of Control, Automation, and Systems / v.4, no.2, 2006 , pp. 197-203 More about this Journal
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
Adaptive control; mobile manipulator; neural-fuzzy control; nonholonomic;
Citations & Related Records

Times Cited By Web Of Science : 9  (Related Records In Web of Science)
Times Cited By SCOPUS : 12
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