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Robust adaptive tracking control for nonholonomic mobile manipulator with uncertainties.
Jinzhu Peng1, Jie Yu1, Jie Wang1
1School of Electrical Engineering, Zhengzhou University, Zhengzhou, Henan 450001, China.
ISA Transactions
|June 12, 2014
Summary
This study introduces a robust adaptive tracking controller for mobile manipulators, ensuring system stability and accurate movement despite uncertainties. The controller effectively manages coupled subsystems for reliable robotic performance.
Area of Science:
- Robotics and Control Systems
- Mechatronics Engineering
- Applied Mathematics
Background:
- Mobile manipulators integrate mobile platforms and robotic arms, presenting complex control challenges due to coupled dynamics.
- Nonholonomic constraints of the mobile base and uncertainties in the manipulator dynamics require advanced control strategies.
Purpose of the Study:
- To develop a robust adaptive tracking controller for a mobile manipulator system.
- To address control challenges arising from the interaction between the nonholonomic mobile platform and the holonomic manipulator subsystems.
- To ensure global stability and bounded tracking errors in the presence of parameter uncertainties and disturbances.
Main Methods:
- Decomposition of the mobile manipulator into two subsystems: a nonholonomic mobile platform and a holonomic manipulator.
- Design of a kinematic controller for the mobile platform to achieve desired velocities.
- Utilization of Lyapunov functions to model and manage the coupling between subsystems as disturbances.
- Development of a robust adaptive control law to compensate for unknown parameter uncertainties and external disturbances.
Main Results:
- The proposed robust adaptive controller guarantees global stability of the closed-loop system based on Lyapunov stability theory.
- Tracking errors and adaptive coefficient errors are demonstrated to be bounded.
- Simulation results validate the effectiveness and superior tracking capacity of the developed controller.
Conclusions:
- The robust adaptive tracking controller is effective for nonholonomic mobile manipulators.
- The controller ensures stable operation and accurate trajectory tracking even with system uncertainties.
- This approach provides a reliable control solution for complex robotic systems.
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