Position control of input-delayed mobile manipulator

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dc.authoridELIBOL SECIL, Gulin/0000-0002-6626-9649
dc.contributor.authorSecil, Gulin Elibol
dc.contributor.authorObuz, Serhat
dc.contributor.authorParlaktuna, Osman
dc.date.accessioned2025-03-17T12:27:28Z
dc.date.available2025-03-17T12:27:28Z
dc.date.issued2024
dc.departmentTarsus Üniversitesi
dc.description.abstractThis 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.
dc.identifier.doi10.1007/s40435-024-01417-4
dc.identifier.endpage3307
dc.identifier.issn2195-268X
dc.identifier.issn2195-2698
dc.identifier.issue9
dc.identifier.scopus2-s2.0-85191097813
dc.identifier.scopusqualityQ2
dc.identifier.startpage3289
dc.identifier.urihttps://doi.org/10.1007/s40435-024-01417-4
dc.identifier.urihttps://hdl.handle.net/20.500.13099/2274
dc.identifier.volume12
dc.identifier.wosWOS:001206039500001
dc.identifier.wosqualityN/A
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherSpringernature
dc.relation.ispartofInternational Journal of Dynamics and Control
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_WOS_20250316
dc.subjectNonholonomic mobile manipulator
dc.subjectInput-delayed system
dc.subjectUnknown time-varying delay
dc.subjectPosition tracking
dc.subjectRobust controller
dc.titlePosition control of input-delayed mobile manipulator
dc.typeArticle

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