Optimal sliding control of mobile manipulators

• Autorzy: Galicki M.

Identyfikatory

DOI

10.24425/bpasts.2019.130187

• Języki publikacji: EN

Abstrakty

EN

The paper adresses optimal control problem of mobile manipulators. Dynamic equations of those mechanisms are assuemd herein to be uncertain. Moreover, unbounded disturbances act on the mobile manipulator whose end-effector tracks a desired (reference) trajectory given in a task (Certesian) space. A compytionally efficient class of two-stage cascaded (hierarchchical) control algotithms based on both the transpose Jacobian matrix and transpose actuation matrix, has been proposed. The offered control laws involve to kinds of non-singular terminal sliding mode (TSM) manifolds, which were also introduced in the paper. The proposed class of cooperating sub-controllers is shown to be finite time stable be fulfilment of practically reasonable assumptions. The performance of the proposed control strategies is illustated on an exemplary mobile manipulator whose end-effector tracks desired trajectory.

Słowa kluczowe

EN

mobile manipulator; trajectory tracking; finite time control

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2019
• Tom: Vol. 67, nr 4
• Strony: 777--788
• Opis fizyczny: Bibliogr. 36 poz., rys.

Twórcy

autor

Galicki M.

• Centrum Badan Kosmicznych Polskiej Akademii Nauk

Bibliografia

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Uwagi

PL

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2020).