| Dynamic modeling and adaptive neural-fuzzy control for nonholonomic mobile manipulators moving on a slope | |
| Liu Y.; Li Y. | |
| 2006 | |
| Source Publication | International Journal of Control, Automation and Systems
 |
| ISSN | 15986446 |
| Volume | 4Issue:2Pages:197 |
| 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. |
| Keyword | Adaptive control Mobile manipulator Neural-fuzzy control Nonholonomic |
| URL | View the original |
| Language | 英语 |
| The Source to Article | Scopus |
| Fulltext Access | |
| Document Type | Journal article |
| Collection | University of Macau |
| Recommended Citation GB/T 7714 | Liu Y.,Li Y.. Dynamic modeling and adaptive neural-fuzzy control for nonholonomic mobile manipulators moving on a slope[J]. International Journal of Control, Automation and Systems,2006,4(2):197. |
| APA | Liu Y.,&Li Y..(2006).Dynamic modeling and adaptive neural-fuzzy control for nonholonomic mobile manipulators moving on a slope.International Journal of Control, Automation and Systems,4(2),197. |
| MLA | Liu Y.,et al."Dynamic modeling and adaptive neural-fuzzy control for nonholonomic mobile manipulators moving on a slope".International Journal of Control, Automation and Systems 4.2(2006):197. |
Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.
Edit Comment