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http://dx.doi.org/10.21289/KSIC.2021.24.3.301

Design and Implementation of Back-stepping Control for Path Tracking of Mobile Manipulator of Logistics and Manufacturing  

Jin, Taeseok (Dept. of Mechatronics, Ddongeo University)
Publication Information
Journal of the Korean Society of Industry Convergence / v.24, no.3, 2021 , pp. 301-306 More about this Journal
Abstract
In this paper, we propose a modified back-stepping control method in view of the dynamic model of mobile manipulator has the nonholonomic constraints, these constraints should be considered to design a tracking controller for the mobile manipulator. The conventional back-stepping controller includes the dynamics and kinematics of the mobile robot systems. and the modified adaptive back0stepping method is applied to constructing the controller. The proposed controller can realize the tracking trajectory of the reference path. The efficiency and robustness of this control method is demonstrated by the simulation.
Keywords
Nonholonomic System; Mobile Manipu lator; Dynamics; Kinematics; Back-stepping Control;
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