Different kinematic controllers stabilizing nonholonomic mobile manipulators of (nh, nh) type about desired configuration

• Autorzy: Mazur A. , Płaskonka J.
• Języki publikacji: EN

Abstrakty

EN

In the paper, a problem of selection of kinematic control algorithm for nonholonomic manipulator has been considered. For a nonholonomic manipulating arm, two kinematic algorithms - Astolfi algorithm (working in closed-loop) and Nakamura, Chung and Sordalen algorithm (working in open loop of control) have been compared. Simulation results have shown that influence of the dynamics on the behavior of mobile manipulator of (nh, nh) type is huge. It means that only kinematic control algorithms using feedback in the control loop are sufficiently robust to apply them in practical applications. Then, for the nonholonomic wheeled mobile platform, Astolfi algorithm, which belongs to discontinuous class of kinematic algorithms, has also been compared to a discontinuous algorithm proposed by Zhang & Hirschorn.

Słowa kluczowe

EN

nonholonomic systems; point stabilization; discontinuous control

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2011
• Tom: Vol. 5, No. 3
• Strony: 41--48
• Opis fizyczny: Bibliogr. 8 poz., rys.

Twórcy

autor

Mazur A.

autor

Płaskonka J.

• Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50–372 Wrocław,

Bibliografia

• [1] A. Astolfi, ”Exponential stabilization of a car-like vehicle”, In: IEEE International Conference on Robotics and Automation. Proceedings, Nagoya – Japan, 1995, p. 1391–1396.
• [2] R. W. Brockett, ”Asymptotic stability and feedback stabilization”, In: Differential Geometric Control Theory (R. W. Brockett, R. S. Millman and H. J. Sussmann, eds.), Birkhauser, Boston, 1983, p. 181–191.
• [3] M. Krstic, I. Kanellakopoulos, P. Kokotovic, ”Nonlinear and adaptive control design”, Wiley, New York, 1995.
• [4] R. Murray, S.S. Sastry, ”Nonholonomic motion planning: steering using sinusoids”, IEEE Transactions on Automatic Control,1993, Vol. 38, p. 700–716.
• [5] Y. Nakamura, W. Chung, O. J. Sordalen, ”Design and control of the nonholonomic manipulator”, IEEE Transactions on Robotics and Automation, 2001, Vol. 17, No. 1, p. 48–59.
• [6] D. Pazderski, K. Kozłowski, B. Krysiak, ”Nonsmooth stabilizer for three link nonholonomic manipulator using polar-like coordinates”, In: Lecture Notes in Control and Information Sciences, No. 396, p. 35–44, Springer, London, 2009.
• [7] K. Tchon, J. Jakubiak, K. Zadarnowska, ”Doubly nonholonomic mobile manipulators”, In: IEEE International Conference on Robotics and Automation. Proceedings, New Orleans – USA, 2004, p. 4590–4595.
• [8] M. Zhang, R. M. Hirschorn, ”Discontinuous Feedback Stabilization of Nonholonomic Wheeled Mobile Robots”, Dynamics and Control, 1997, Vol. 7, No. 2, p. 155-169.