Regular Papers

International Journal of Control, Automation and Systems 2006; 4(2): 197-203

© The International Journal of Control, Automation, and Systems

Dynamic Modeling and Adaptive Neural-Fuzzy Control for Nonholonomic Mobile Manipulators Moving on a Slope

Yugang Liu and Yangmin Li*

University of Macau, China

Abstract

This paper addresses dynamic modeling and task-space trajectory following issues for nonholonomic mobile manipulators moving on a slope. An integrated dynamic modeling method is proposed considering nonholonomic constraints and interactive motions. An adaptive neural-fuzzy controller is presented for end-effector trajectory following, which does not rely on precise apriori knowledge of dynamic parameters and can suppress bounded external disturbances. Effectiveness of the proposed algorithm is verified through simulations.

Keywords Adaptive control, mobile manipulator, neural-fuzzy control, nonholonomic.

Article

Regular Papers

International Journal of Control, Automation and Systems 2006; 4(2): 197-203

Published online April 1, 2006

Copyright © The International Journal of Control, Automation, and Systems.

Dynamic Modeling and Adaptive Neural-Fuzzy Control for Nonholonomic Mobile Manipulators Moving on a Slope

Yugang Liu and Yangmin Li*

University of Macau, China

Abstract

This paper addresses dynamic modeling and task-space trajectory following issues for nonholonomic mobile manipulators moving on a slope. An integrated dynamic modeling method is proposed considering nonholonomic constraints and interactive motions. An adaptive neural-fuzzy controller is presented for end-effector trajectory following, which does not rely on precise apriori knowledge of dynamic parameters and can suppress bounded external disturbances. Effectiveness of the proposed algorithm is verified through simulations.

Keywords: Adaptive control, mobile manipulator, neural-fuzzy control, nonholonomic.

IJCAS
July 2024

Vol. 22, No. 7, pp. 2055~2340

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