Efficient position/force control of constrained mobile manipulators

In the present paper, an efficient control scheme is proposed for position/force control of constrained mobile manipulators. The mobile manipulator under study has holonomic as well as nonholonomic constraints. The dynamics of the mobile manipulator faces uncertainties (both structured and unstructu...

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Bibliographic Details
Published in:International journal of dynamics and control 2018-12, Vol.6 (4), p.1629-1638
Main Authors: Rani, Manju, Kumar, Naveen, Singh, Harendra Pal
Format: Article
Language:English
Subjects:
Adaptive control
Asymptotic properties
Complexity
Computer simulation
Control
Control and Systems Theory
Control stability
Convergence
Dynamic structural analysis
Dynamical Systems
Engineering
Manipulators
Mathematical models
Neural networks
Robot arms
Uncertainty
Vibration
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Summary:In the present paper, an efficient control scheme is proposed for position/force control of constrained mobile manipulators. The mobile manipulator under study has holonomic as well as nonholonomic constraints. The dynamics of the mobile manipulator faces uncertainties (both structured and unstructured) and external disturbances. In the proposed control scheme, model based computed torque controller is combined with model free neural network based controller. With the proposed approach, asymptotic convergence of the trajectory as well as convergence of the constrained force is achieved to the desired level. The neural network reconstruction error as well as bounds on uncertainties are estimated by adaptive bound part of the control scheme. Lyapunov stability approach is utilized to show the overall closed loop system to be asymptotically stable. Finally, numerical simulation study is performed to validate the proposed approach and the effectiveness is shown in comparative manner with the existing approaches.
ISSN:2195-268X
2195-2698
DOI:10.1007/s40435-018-0401-7