[go: up one dir, main page]

Shafei et al., 2020 - Google Patents

Trajectory tracking of an uncertain wheeled mobile robotic manipulator with a hybrid control approach

Shafei et al., 2020

View PDF
Document ID
120813921908944844
Author
Shafei H
Bahrami M
Talebi H
Publication year
Publication venue
Journal of the Brazilian Society of Mechanical Sciences and Engineering

External Links

Snippet

In this paper, a novel hybrid control approach is used for trajectory-tracking control of wheeled mobile robotic manipulators (WMRMs) in the presence of model uncertainties and external disturbances. Due to the existence of nonholonomic constrains in wheeled mobile …
Continue reading at www.academia.edu (PDF) (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
    • G05B13/027—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using neural networks only
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/32—Automatic controllers electric with inputs from more than one sensing element; with outputs to more than one correcting element
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B15/00—Systems controlled by a computer
    • G05B15/02—Systems controlled by a computer electric

Similar Documents

Publication Publication Date Title
Shafei et al. Trajectory tracking of an uncertain wheeled mobile robotic manipulator with a hybrid control approach
Maalini et al. Modelling and control of ball and beam system using PID controller
Montano et al. Orbital stabilization of an underactuated bipedal gait via nonlinear H∞-control using measurement feedback
Zabihifar et al. Hybrid force/position control of a collaborative parallel robot using adaptive neural network
Khesrani et al. Motion planning and control of nonholonomic mobile robot using flatness and fuzzy logic concepts
Zhuang et al. A sampled delayed output extended state observer-based adaptive feedback control of robot manipulator with unknown dynamics
Ahmadi et al. Adaptive finite-time impedance backstepping control for uncertain robotic systems interacting with unknown environments
Dao et al. Finite-time sliding mode control strategies for perturbed input-constrained nonlinear bilateral teleoperation systems with variable-time communication delays
Mou et al. Disturbance rejection sliding mode control for robots and learning design
Manh et al. An adaptive neural network-based controller for car driving simulators
Homayounzade et al. A robust tracking controller for electrically driven robot manipulators: stability analysis and experiment
Zhang et al. Time delay compensation of a robotic arm based on multiple sensors for indirect teaching
Zhou et al. Collision-free compliance control for redundant manipulators: an optimization case
Tutunji et al. A three-stage PSO-based methodology for tuning an optimal PD-controller for robotic arm manipulators
Korayem et al. New optimization method to solve motion planning of dynamic systems: Application on mechanical manipulators
Li et al. Adaptive dynamic programming-based decentralized guaranteed cost control for reconfigurable manipulators with uncertain environments
Ulrich et al. Nonlinear adaptive output feedback control of flexible-joint space robot manipulators
Sulaiman et al. Feed-forward Controller Using DeNOC Methodology for a Wheeled Humanoid Robot
Huang et al. Sliding mode variable structure-based chattering avoidance control for mobile wheeled inverted pendulums
Girgin et al. Reactive anticipatory robot skills with memory
Qin et al. Robotic Arm Trajectory Tracking Control Based on An RBF Neural Network Adaptive Control Algorithm
Suarin et al. Weighted-Sum Extended Bat Algorithm Based PD Controller Design for Wheeled Mobile Robot
Gómez et al. Free model task space controller based on adaptive gain for robot manipulator using Jacobian estimation
Zhang et al. Two-Layer Adaptive Composite Anti-disturbance Control for Robotic Manipulator With Multiple Disturbances
Alvarez et al. Comprehensive Modeling and LQR Control of the Double Wheel on Wheel System