Modeling of Mobile Manipulator and Adaptive Super-Twisting Backstepping Control
نویسندگان
چکیده
منابع مشابه
adaptive fuzzy control of a mobile manipulator robot
a mobile manipulator robot is known as a complex system due to some properties such as coupling between the manipulator and mobile chassis, holonomic and nonholonomic constraints, multivariable and nonlinear dynamics. the control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. therefore, the use of an adaptive fuzzy system is suggested for its capability ...
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In this paper a super-twisting-like structure with adaptive gains is proposed. The structure is parameterized by two scalar gains, both of which adapt, and by an additional time-varying term. The magnitudes of the adaptive terms are allowed to both increase and decrease as appropriate so that they are as small as possible, in the sense that they do not unnecessarily over-bound the uncertainty, ...
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ژورنال
عنوان ژورنال: Proceedings of International Conference on Artificial Life and Robotics
سال: 2016
ISSN: 2188-7829
DOI: 10.5954/icarob.2016.gs7-3