Trajectory tracking control of a mobile manipulator with an external force compensation

• Autorzy: Galicki Mirosław

Identyfikatory

DOI

10.24425/bpasts.2021.137943

• Języki publikacji: EN

Abstrakty

EN

This paper considers the problem of the accurate task space finite-time control susceptible to both undesirable disturbance forces exerted on the end-effector and unknown friction forces coming from joints directly driven by the actuators as well as unstructured forces resulting from the kinematic singularities appearing on the mechanism trajectory. We obtain a class of estimated extended transposed Jacobian controllers which seem to successfully counteract the external disturbance forces on the basis of a suitably defined task-space non-singular terminal sliding manifold (TSM) and the Lyapunov stability theory. Moreover, in order to overcome (or to minimise) the undesirable chattering effects, the proposed robust control law involves the second-order sliding technique. The numerical simulations (closely related to an experiment) ran for a mobile manipulator consisting of a non-holononic platform of (2;0) type and a holonomic manipulator of two revolute kinematic pairs show the performance of the proposed controllers and make a comparison with other well-known control schemes.

Słowa kluczowe

EN

non-holonomic mobile manipulator; unstructured external forces; trajectory tracking; robust task space control; Lyapunov stability

PL

nieholonomiczny manipulator mobilny; siły zewnętrzne nieustrukturyzowane; śledzenie trajektorii; solidna kontrola przestrzeni zadań; stabilność Lapunova

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2021
• Tom: Vol. 69, nr 5
• Strony: art. no. e137943
• Opis fizyczny: Bibliogr. 41 poz., rys.

Twórcy

autor

Galicki Mirosław

• Centrum Badan Kosmicznych Polskiej Akademii Nauk, ul. Bartycka 18A, 00-716 Warsaw, Poland

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