UM
Dynamic modeling and adaptive neural-fuzzy control for nonholonomic mobile manipulators moving on a slope
Liu Y.; Li Y.
2006
Source PublicationInternational Journal of Control, Automation and Systems
ISSN15986446
Volume4Issue:2Pages:197
AbstractThis 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.
KeywordAdaptive control Mobile manipulator Neural-fuzzy control Nonholonomic
URLView the original
Language英语
The Source to ArticleScopus
Fulltext Access
Document TypeJournal article
CollectionUniversity 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.
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