This work presents a control approach based on the passivity principle, developed to guarantee performance of the application used to track the trajectory of mobile manipulator when disturbed. By exploiting the particularity of the mobile manipulator robots modelling equipped with a nonholonomic mobile base, we present a global control law for the mobile manipulator as a single system. This control allows taking into account the whole system and modifying its dynamics by introducing a highly non-linear regressor matrix to consider uncertainties and modeling constraints. The presented controller is applied to the mobile manipulator robot composed of a manipulator's arm with 2 DDL mounted on a mobile unicycle platform. Simulation tests validate the performance of the proposed approach when external disturbances occur; showing an acceptable performance of the system's stability and validated by exploiting the Lyapunov theory.
Passivity-Based Tracking Control of a Mobile Manipulator Robot
05.12.2023
International Journal of Integrated Engineering; Vol. 15 No. 7 (2023): Regular Issue (Article in Press); 124-135 ; 2600-7916 ; 2229-838X
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
Tracking Control of Nonholonomic Mobile Manipulator
British Library Online Contents | 2001
|MOBILE ROBOT, MOBILE MANIPULATOR, AND METHOD FOR CONTROLLING MOBILE ROBOT
Europäisches Patentamt | 2024
|Trajectory Tracking Control for Robot Manipulator Under Dynamic Environment
Springer Verlag | 2023
|