Stability analysis of an adaptive fuzzy control system using Petri Nets and learning automata
Mathematics and Computers in Simulation - Special issue from the IMACS/IFAC international symposium on soft computing methods and applications: “SOFTCOM '99” (held in Athens, Greece)
Theory of Robot Control
Adaptive Neural Network Control of Robotic Manipulators
Adaptive Neural Network Control of Robotic Manipulators
Neural Networks: A Comprehensive Foundation (3rd Edition)
Neural Networks: A Comprehensive Foundation (3rd Edition)
Adaptive neural-network control for redundant nonholonomic mobile modular manipulators
ISNN'05 Proceedings of the Second international conference on Advances in Neural Networks - Volume Part III
A neuro-fuzzy controller for mobile robot navigation and multirobotconvoying
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Adaptive neural network control of nonlinear systems by state andoutput feedback
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Neural-network control of mobile manipulators
IEEE Transactions on Neural Networks
Neural Network Based Kinematic Control of the Hyper-Redundant Snake-Like Manipulator
ISNN '07 Proceedings of the 4th international symposium on Neural Networks: Advances in Neural Networks
On Multiple Secondary Task Execution of Redundant Nonholonomic Mobile Manipulators
Journal of Intelligent and Robotic Systems
Bounded-time system identification under neuro-sliding training
IJCNN'09 Proceedings of the 2009 international joint conference on Neural Networks
Neuro-adaptive compliant force/motion control of uncertain constrained wheeled mobile manipulators
International Journal of Robotics and Automation
Indirect sliding mode neural-network control for holonomic constrained robot manipulators
International Journal of Intelligent Systems Technologies and Applications
Robotics and Autonomous Systems
Global tracking control of a wheeled mobile robot using RBF neural networks
ISNN'13 Proceedings of the 10th international conference on Advances in Neural Networks - Volume Part II
Hi-index | 0.00 |
A general mobile modular manipulator can be defined as a m-wheeled holonomic/nonholonomic mobile platform combining with a n-degree of freedom modular manipulator. This paper presents a sliding mode adaptive neural-network controller for trajectory following of nonholonomic mobile modular manipulators in task space. Dynamic model for the entire mobile modular manipulator is established in consideration of nonholonomic constraints and the interactive motions between the mobile platform and the onboard modular manipulator. Multilayered perceptrons (MLP) are used as estimators to approximate the dynamic model of the mobile modular manipulator. Sliding mode control and direct adaptive technique are combined together to suppress bounded disturbances and modeling errors caused by parameter uncertainties. Simulations are performed to demonstrate that the dynamic modeling method is valid and the controller design algorithm is effective.