Robust control of underactuated wheeled mobile manipulators using GPI disturbance observers
نویسندگان
چکیده
منابع مشابه
Robust Control of Underactuated Wheeled Mobile Manipulators using GPI Disturbance Observers
This article describes the design of a linear observer-linear controller-based robust output feedback scheme for output reference trajectory tracking tasks in the case of nonlinear, multivariable, nonholonomic underactuated mobile manipulators. The proposed linear feedback scheme is based on the use of a classical linear feedback controller and suitably extended, high gain, linear Generalized P...
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ژورنال
عنوان ژورنال: Multibody System Dynamics
سال: 2013
ISSN: 1384-5640,1573-272X
DOI: 10.1007/s11044-013-9401-8