Sliding Mode Adaptive Neural-Network Control for Nonholonomic Mobile Modular Manipulators
Journal of Intelligent and Robotic Systems
Automatica (Journal of IFAC)
Neural Network-Based Robust Tracking Control for Nonholonomic Mobile Robot
ISNN '07 Proceedings of the 4th international symposium on Neural Networks: Advances in Neural Networks
IWINAC '07 Proceedings of the 2nd international work-conference on Nature Inspired Problem-Solving Methods in Knowledge Engineering: Interplay Between Natural and Artificial Computation, Part II
On Multiple Secondary Task Execution of Redundant Nonholonomic Mobile Manipulators
Journal of Intelligent and Robotic Systems
Robust adaptive control of cooperating mobile manipulators with relative motion
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on human computing
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IEEE Transactions on Neural Networks
Neuro-adaptive compliant force/motion control of uncertain constrained wheeled mobile manipulators
International Journal of Robotics and Automation
A new iterative learning controller using variable structure Fourier neural network
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Robust adaptive control for mobile manipulators
International Journal of Automation and Computing
On-line regression algorithms for learning mechanical models of robots: A survey
Robotics and Autonomous Systems
Autonomous control for human-robot interaction on complex rough terrain
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part II
Robotics and Autonomous Systems
Information Sciences: an International Journal
Modeling and autonomous control of multiple mobile manipulators handling rigid objects
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part II
Hi-index | 0.01 |
In this paper, a neural network (NN)-based methodology is developed for the motion control of mobile manipulators subject to kinematic constraints. The dynamics of the mobile manipulator is assumed to be completely unknown, and is identified online by the NN estimators. No preliminary learning stage of NN weights is required. The controller is capable of disturbance-rejection in the presence of unmodeled bounded disturbances. The tracking stability of the closed-loop system, the convergence of the NN weight-updating process and boundedness of NN weight estimation errors are all guaranteed. Experimental tests on a 4-DOF manipulator arm illustrate that the proposed controller significantly improves the performance in comparison with conventional robust control