Robust motion and force control of constrained manipulators by learning
Automatica (Journal of IFAC)
Combined adaptive and variable structure control for constrained robots
Automatica (Journal of IFAC)
Mathematical aspects of classical and celestial mechanics (2nd ed.)
Mathematical aspects of classical and celestial mechanics (2nd ed.)
Neural Network Control of Robot Manipulators and Nonlinear Systems
Neural Network Control of Robot Manipulators and Nonlinear Systems
Analysis and Control for an Omnidirectional Mobile Manipulator
Journal of Intelligent and Robotic Systems
Adaptive control for mobile robot using wavelet networks
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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
Neural-network control of mobile manipulators
IEEE Transactions on Neural Networks
Neural net robot controller with guaranteed tracking performance
IEEE Transactions on Neural Networks
Robotics and Autonomous Systems
Information Sciences: an International Journal
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This paper addresses the robust trajectory tracking problem for a redundantly actuated omnidirectional mobile manipulator in the presence of uncertainties and disturbances. The development of control algorithms is based on sliding mode control (SMC) technique. First, a dynamic model is derived based on the practical omnidirectional mobile manipulator system. Then, a SMC scheme, based on the fixed large upper boundedness of the system dynamics (FLUBSMC), is designed to ensure trajectory tracking of the closed-loop system. However, the FLUBSMC scheme has inherent deficiency, which needs computing the upper boundedness of the system dynamics, and may cause high noise amplification and high control cost, particularly for the complex dynamics of the omnidirectional mobile manipulator system. Therefore, a robust neural network (NN)-based sliding mode controller (NNSMC), which uses an NN to identify the unstructured system dynamics directly, is further proposed to overcome the disadvantages of FLUBSMC and reduce the online computing burden of conventional NN adaptive controllers. Using learning ability of NN, NNSMC can coordinately control the omnidirectional mobile platform and the mounted manipulator with different dynamics effectively. The stability of the closed-loop system, the convergence of the NN weight-updating process, and the boundedness of the NN weight estimation errors are all strictly guaranteed. Then, in order to accelerate the NN learning efficiency, a partitioned NN structure is applied. Finally, simulation examples are given to demonstrate the proposed NNSMC approach can guarantee the whole system's convergence to the desired manifold with prescribed performance.