Design of a novel control algorithm for a 6 D.O.F. mobile manipulator based on a robust observer

• Autorzy: Bolandi H. , Ehyaei A. F. , Esmaeilzadeh A. M.
• Języki publikacji: EN

Abstrakty

EN

In this paper a control algorithm based on a design technique named "Robust Damping Control" is introduced. A robust observer is further shown to overcome the problem of using velocity sensors that may degrade the system performance. The proposed controller uses only position measurements and is capable of disturbance rejection in the presence of unknown bounded disturbances without requiring the knowledge of its bound. Moreover, we propose an accurate and fast time integration method to solve the dynamic equations of the mobile manipulator system. The simulation results of a 6 D.O.F. mobile manipulator illustrate the effectiveness of the presented algorithm.

Słowa kluczowe

EN

robust control; mobile manipulator; generalized-α method; robust observer

• Wydawca: Systems Research Institute, Polish Academy of Sciences
• Czasopismo: Control and Cybernetics
• Rocznik: 2005
• Tom: Vol. 34, no 4
• Strony: 1057--1074
• Opis fizyczny: Bibliogr. 10 poz., rys., wykr.

Twórcy

autor

Bolandi H.

• College of Electrical Engineering, Iran University of Science and Technology Narmak, Tehran, Iran, 16844

autor

Ehyaei A. F.

• College of Electrical Engineering, Iran University of Science and Technology Narmak, Tehran, Iran, 16844

autor

Esmaeilzadeh A. M.

• College of Electrical Engineering, Iran University of Science and Technology Narmak, Tehran, Iran, 16844

Bibliografia

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• Minami, M., Fujiyou, Y. and Asakura, T. (2002) Neuro-Adaptive Control of Mobile Manipulators for Traveling Operation on Unknown Irregular Trrain. Proc. of the IEEE Int. Conf. On Fuzzy Systems 2, 1538-1543.
• Qu, Z. and Dawson, D.M. (1996) Robust Tracking Control of Robot Manipulators. IEEE Press, New York.
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• Tahboub, K.A. (1997b) Observer Based Control for Manipulators with Moving Bases, Proc. IROS IEEE, 1279-1284.