%0 Journal Article
%T Robust adaptive control for mobile manipulators<br>
%A Mohamed Boukattaya
%A Tarak Damak
%A Mohamed Jallouli
%A <br>
%J 国际自动化与计算杂志
%D 2011
%I 
%X This paper addresses the trajectory tracking control of a nonholonomic wheeled mobile manipulator with parameter uncertainties and disturbances. The proposed algorithm adopts a robust adaptive control strategy where parametric uncertainties are compensated by adaptive update techniques and the disturbances are suppressed. A kinematic controller is first designed to make the robot follow a desired end-effector and platform trajectories in task space coordinates simultaneously. Then, an adaptive control scheme is proposed, which ensures that the trajectories are accurately tracked even in the presence of external disturbances and uncertainties. The system stability and the convergence of tracking errors to zero are rigorously proven using Lyapunov theory. Simulations results are given to illustrate the effectiveness of the proposed robust adaptive control law in comparison with a sliding mode controller.
%K Mobile manipulator
%K trajectory tracking
%K robust adaptive control
%K sliding mode control
%K uncertainties and disturbances<br>
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=7139AD613512F4F05F6D525B914296AA&aid=CCE96FAC7CA96C5D42E5705445932B7A&yid=9377ED8094509821&vid=5D311CA918CA9A03&iid=CA4FD0336C81A37A&sid=5D311CA918CA9A03&eid=FC0714F8D2EB605D&journal_id=1476-8186&journal_name=国际自动化与计算杂志&referenced_num=0&reference_num=17