UM
Sliding mode adaptive neural-network control for nonholonomic mobile modular manipulators
Liu Y.; Li Y.
2005
Source PublicationJournal of Intelligent and Robotic Systems: Theory and Applications
ISSN9210296
Volume44Issue:3Pages:203
AbstractA 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. © 2006 Springer Science+Business Media Inc.
KeywordAdaptive control Neural network Nonholonomic mobile modular manipulator Sliding mode control
DOI10.1007/s10846-005-9002-8
URLView the original
Language英语
The Source to ArticleScopus
Fulltext Access
Citation statistics
Cited Times [WOS]:32   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Recommended Citation
GB/T 7714
Liu Y.,Li Y.. Sliding mode adaptive neural-network control for nonholonomic mobile modular manipulators[J]. Journal of Intelligent and Robotic Systems: Theory and Applications,2005,44(3):203.
APA Liu Y.,&Li Y..(2005).Sliding mode adaptive neural-network control for nonholonomic mobile modular manipulators.Journal of Intelligent and Robotic Systems: Theory and Applications,44(3),203.
MLA Liu Y.,et al."Sliding mode adaptive neural-network control for nonholonomic mobile modular manipulators".Journal of Intelligent and Robotic Systems: Theory and Applications 44.3(2005):203.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Liu Y.]'s Articles
[Li Y.]'s Articles
Baidu academic
Similar articles in Baidu academic
[Liu Y.]'s Articles
[Li Y.]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Liu Y.]'s Articles
[Li Y.]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.