Tracking control of mobile manipulator robot based on adaptive backstepping approach

2017 ◽  
Vol 1 (3) ◽  
pp. 224
Author(s):  
Guy Gauthier ◽  
Wen Hong Zhu ◽  
Jawhar Ghommam ◽  
Abdelkrim Brahmi ◽  
Maarouf Saad
Keyword(s):  
Tracking Control ◽  
Mobile Manipulator ◽  
Adaptive Backstepping ◽  
Backstepping Approach ◽  
Manipulator Robot

Tracking control of mobile manipulator robot based on adaptive backstepping approach

2017 ◽  
Vol 1 (3) ◽  
pp. 224 ◽  
Author(s):  
Abdelkrim Brahmi ◽  
Maarouf Saad ◽  
Guy Gauthier ◽  
Wen Hong Zhu ◽  
Jawhar Ghommam
Keyword(s):  
Tracking Control ◽  
Mobile Manipulator ◽  
Adaptive Backstepping ◽  
Backstepping Approach ◽  
Manipulator Robot

scholarly journals Tracking Control for a DC Microgrid Feeding Uncertain Loads in More Electric Aircraft: Adaptive Backstepping Approach

2019 ◽  
Vol 66 (7) ◽  
pp. 5644-5652 ◽  
Author(s):  
Shirin Yousefizadeh ◽  
Jan Dimon Bendtsen ◽  
Navid Vafamand ◽  
Mohammad Hassan Khooban ◽  
Frede Blaabjerg ◽  
...  
Keyword(s):  
Tracking Control ◽  
Adaptive Backstepping ◽  
Dc Microgrid ◽  
Backstepping Approach ◽  
Electric Aircraft ◽  
More Electric Aircraft

scholarly journals ADAPTIVE-BACKSTEPPING POSITION CONTROL BASED ON RECURRENT-FWNNS FOR MOBILE MANIPULATOR ROBOT

2018 ◽  
Vol 54 (3A) ◽  
pp. 23
Author(s):  
Mai Thang Long
Keyword(s):  
Control System ◽  
Position Control ◽  
Mobile Manipulator ◽  
Adaptive Backstepping ◽  
Uncertain Disturbances ◽  
Approximation Errors ◽  
Online Learning Algorithms ◽  
Dynamics Problems ◽  
Adaptive Online Learning ◽  
Manipulator Robot

In this paper, we proposed an adaptive-backstepping position control system for mobile manipulator robot (MMR). By applying recurrent fuzzy wavelet neural networks (RFWNNs) in the position-backstepping controller, the unknown-dynamics problems of the MMR control system are relaxed. In addition, an adaptive-robust compensator is proposed to eliminate uncertainties that consist of approximation errors and uncertain disturbances. The design of adaptive-online learning algorithms is obtained by using the Lyapunov stability theorem. The effectiveness of the proposed method is verified by comparative simulation results.

Hybrid adaptive tracking control method for mobile manipulator robot based on Proportional–Integral–Derivative technique

2021 ◽  
pp. 095440622110149
Author(s):  
Thanglong Mai
Keyword(s):  
Control System ◽  
Tracking Control ◽  
Control Method ◽  
Fuzzy Neural Networks ◽  
Mobile Manipulator ◽  
Proportional Integral Derivative ◽  
Adaptive Tracking Control ◽  
Proportional Integral ◽  
Adaptive Tracking ◽  
Manipulator Robot

In this research, an adaptive tracking control method for the nonholonomic robot system is addressed based on the hybrid Proportional–Integral–Derivative (PID) technique. The proposed hybrid PID scheme first applies the merits of the traditional PID method, with the online self-learning capability for the PID – gains, to force tracking errors to zero in the presence of uncertainties. Then, in order to improve the tracking performance, an adaptive Fuzzy Neural Networks (FNN) approximator and an adaptive robust controller type-compensator are utilized to relax the uncertainties problems of the robot control system. Moreover, the nonholonomic constraint force stability of the mobile manipulator robot is also considered by an adaptive control scheme. The design of online updating laws for the proposed controllers and FNN approximator are designed by applying the Lyapunov stability theorem. Thus, besides the improvement for tracking control performance, the stability of the proposed control system is also maintained. The effectiveness, robustness and adaptability of the proposed control strategy are verified by comparative numerical simulation results.

Robust adaptive tracking control for uncertain nonholonomic mobile manipulator

2021 ◽  
pp. 095965182110277
Author(s):  
Abdelkrim Brahmi ◽  
Maarouf Saad ◽  
Brahim Brahmi ◽  
Ibrahim El Bojairami ◽  
Guy Gauthier ◽  
...  
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Robust Adaptive Control ◽  
Convergence Time ◽  
Adaptive Sliding Mode Control ◽  
Mobile Manipulator ◽  
Control Law ◽  
Adaptive Tracking Control ◽  
Robust Adaptive ◽  
Manipulator Robot

In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncertainties and disturbances were estimated by the adaptive update technique. The proposed control ensures a relatively good system tracking, with all errors converging to zero. Unlike conventional sliding mode controls, the suggested is able to achieve superb performance, without resulting in any chattering problems, along with an extremely fast system trajectories convergence time to equilibrium. The aforementioned characteristics were attainable upon using an innovative reaching law based on potential functions. Furthermore, the Lyapunov approach was used to design the control law and to conduct a global stability analysis. Finally, experimental results and comparative study collected via a 05-DoF mobile manipulator robot, to track a given trajectory, showing the superior efficiency of the proposed control law.

Sign in / Sign up

Export Citation Format

Share Document