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
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.
PDF
Standard view
Export citation
Share 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.
Vol. 23, No. 3, pp. 683~972
Article Tools
Stats or Metrics
Share this article on
Related articles in IJCAS
-
Distributed Finite-time Adaptive Fuzzy Event-triggered Formation Scheme for Multiple QUAVs Under Time-varying Asymmetric State Constraints
Changhui Wang*, Yihao Wang, and Mei Liang*
International Journal of Control, Automation, and Systems 2025; 23(3): 945-959 -
Reduced-order Observer Based Trajectory Tracking Control of Quadrotor Subject to Noises and Disturbances
Nigar Ahmed, Meng Joo Er*, and Syed Awais Ali Shah
International Journal of Control, Automation, and Systems 2025; 23(3): 860-868 -
Fuzzy Adaptive Event-triggered Control of Multi-agent Systems With Command Filter
Yue Wang, Yong-Hui Yang*, and Li-Bing Wu
International Journal of Control, Automation, and Systems 2025; 23(1): 175-186
