Adaptive fuzzy systems and control: design and stability analysis
Adaptive fuzzy systems and control: design and stability analysis
Adaptive Neural Network Control of Robotic Manipulators
Adaptive Neural Network Control of Robotic Manipulators
Neuro-adaptive compliant force/motion control of uncertain constrained wheeled mobile manipulators
International Journal of Robotics and Automation
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Adaptive Robust Motion/Force Control of Holonomic-Constrained Nonholonomic Mobile Manipulators
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IEEE Transactions on Fuzzy Systems
Adaptive control of a class of nonlinear systems with nonlinearly parameterized fuzzy approximators
IEEE Transactions on Fuzzy Systems
IEEE Transactions on Fuzzy Systems
Brief Paper: Design and performance analysis of a direct adaptive controller for nonlinear systems
Automatica (Journal of IFAC)
Stable adaptive neuro-control design via Lyapunov function derivative estimation
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Adaptive neural control of uncertain MIMO nonlinear systems
IEEE Transactions on Neural Networks
Robotics and Autonomous Systems
Trajectory Planning and Control for Airport Snow Sweeping by Autonomous Formations of Ploughs
Journal of Intelligent and Robotic Systems
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Most studies on the coordination of multiple mobile manipulators system assume exact knowledge of system kinematics and dynamics, and deal only with motion tracking control. However, actual applications may involve tasks in which multiple coordinated mobile manipulators system is required to keep contact on the contour of the constraint surface in tasks. In this paper, we consider multiple mobile manipulators grasping a rigid object in contact with deformable working surfaces, whose geometric and physical model is unknown. The contact forces are nonlinear and unknown. Adaptive neuro-fuzzy (NF) control for coordinated mobile manipulators is proposed for robust force/motion tracking on the constraint surface while it is in motion. The control law is decoupled in three subspaces and adaptive tuning mechanism is developed to deal with the uncertain environmental constraints, disturbances, and unknown robotic dynamics. The proposed adaptive NF hybrid force/motion controller guarantees robust tracking of the desired motion and force trajectories. Simulation examples are presented to illustrate the results.