Designing an optimal control strategy for a mobile manipulator and its application by considering the effect of uncertainties and wheel slipping

DOI10.1002/OCA.2745zbMath1475.49059OpenAlexW3164197047MaRDI QIDQ5159862

Narges Ghobadi, Siavash Fathollahi Dehkordi, Moharam Habibnejad Korayem

Publication date: 28 October 2021

Published in: Optimal Control Applications and Methods (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/oca.2745

zbMATH Keywords

mobile manipulatorSDREoptimal robust controlwheel slipoptimal control application

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12) Variational principles of physics (49S05)

Related Items (3)

A robust state-dependent Riccati equation controller with parameter uncertainty and matched disturbance ⋮ Finite‐time control of mobile manipulators subject to unknown/unstructured external disturbances ⋮ Robust decomposed system control for an electro-mechanical linear actuator mechanism under input constraints

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