On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty
type: Item
instance of: scholarly article
title: On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty
zbMATH Open document ID: 1005.93035
DOI: 10.1016/S0005-1098(02)00060-2
author: Wenjie Dong
published in: Automatica
publication date: 2002-09-05T00:00:00Z
review text: The trajectory an force tracking control problem of mobile robots subject to holonomic and nonholonomic constraints is considered in the case of unknown inertia parameters. Based on a certain parameter estimator, the asymptotic convergence to the desired trajectory, resp. to the desired force, is shown. The method is illustrated by a simulation study.
reviewed by: Kurt Marti
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 70B15
zbMATH DE Number: 1797130
zbMATH Keywords: mobile manipulator
zbMATH Keywords: force/position control
zbMATH Keywords: nonholonomic systems
zbMATH Keywords: constrained robot systems
zbMATH Keywords: mobile robots
zbMATH Keywords: adaptive tracking
MaRDI profile type: Publication
cites work: Control and stabilization of nonholonomic dynamic systems
cites work: Adaptive stabilization of mobile manipulators
cites work: Trajectory tracking control of dynamic non-holonomic systems with unknown dynamics
cites work: Feedback stabilization and tracking of constrained robots
cites work: Nonholonomic motion planning: steering using sinusoids
cites work: Coordinating locomotion and manipulation of a mobile manipulator
cites work: Adaptive control of a constrained robot - ensuring zero tracking and zero force errors
full work available at URL: s0005-1098(02)00060-2
OpenAlex ID: W2093817182
description: scientific article; zbMATH DE number 1797130