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Title of Journal: Int J Autom Comput

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Abbravation: International Journal of Automation and Computing

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Institute of Automation, Chinese Academy of Sciences

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10.1007/s10503-006-9008-9

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1751-8520

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Adaptive Tracking Control of Mobile Manipulators w

Authors: Wei Sun WenXing Yuan YuQiang Wu
Publish Date: 2016/01/11
Volume: 15, Issue: 6, Pages: 728-735
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Abstract

Adaptive motion/force tracking control is considered for a class of mobile manipulators with affine constraints and underactuated joints in the presence of uncertainties in this paper Dynamic equation of mobile manipulator is transformed into a controllable form based on dynamic coupling technique In view of the asymptotic tracking idea and adaptive theory adaptive controllers are proposed to achieve the desired control objective Detailed simulation results confirm the validity of the control strategyWei Sun received the M Sc degree in operation research and control theory from Qufu Normal University China in 2011 and the PhD degree from Southeast University China in 2014 He is a lecturer in the School of Mathematics science Liaocheng University China

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