Robust Decoupling Control for Mobile Manipulators Based on Disturbance Observer
نویسندگان
چکیده
This paper describes a robust approach exploiting input-output decoupling controller for mobile manipulators. The robust controller consists of using a classical proportional-derivative (PD) feedback structure to stabilize the position error plus an additional disturbance observer (DOB) to compensate external disturbances and uncertainties. Simulation results on a mobile platform with 2-DOF manipulator show the satisfactory performance of the proposed control schemes even in the presence of large modeling uncertainties and external disturbances. keywords. Mobile manipulators, input-output decoupling controller, disturbance observer.
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