Position control of input-delayed mobile manipulator
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Tarih
2024
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Springernature
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
This paper presents the design of a novel continuous robust controller for a nonholonomic mobile manipulator in the task space. The main objective of the designed controller is to compensate for the disturbance caused by an unknown time-varying input delay, while the end-effector of the manipulator accurately tracks the reference position trajectory. Notably, the designed robust controller is model-independent; thus, it does not rely on the nominal values of dynamic parameters. Moreover, the control development considers the uncertainties in the parameters of the mobile manipulator dynamics via an unknown time-varying additive disturbance in the dynamics. To guarantee the uniformly ultimate boundedness of the tracking error, the paper utilizes a novel Lyapunov-based stability analysis incorporating Lyapunov-Krasovskii functionals. The effectiveness of the designed controller for a mobile manipulator, composed of a differential drive mobile platform and a two-degree-of-freedom robot manipulator, has been confirmed via simulation results.
Açıklama
Anahtar Kelimeler
Nonholonomic mobile manipulator, Input-delayed system, Unknown time-varying delay, Position tracking, Robust controller
Kaynak
International Journal of Dynamics and Control
WoS Q Değeri
N/A
Scopus Q Değeri
Q2
Cilt
12
Sayı
9
