Adaptive control for mobile manipulators with affine constraints

2016 ◽  
Author(s):  
Wei Sun ◽  
Jianwei Xia
Keyword(s):  
Adaptive Control ◽  
Mobile Manipulators ◽  
Affine Constraints

Neuro-adaptive control of mobile manipulators based on compensation of approximation error

2002 ◽  
Vol 38 (16) ◽  
pp. 935 ◽  
Author(s):  
Choon-Young Lee ◽  
Tae-Dok Eom ◽  
Ju-Jang Lee
Keyword(s):  
Adaptive Control ◽  
Approximation Error ◽  
Mobile Manipulators

Mobile Operations Performed by Mobile Manipulators on Irregular Terrain - Torque Compensation Using Neural Networks for Disturbance Torques Produced by Irregular Terrain -

1998 ◽  
Vol 10 (5) ◽  
pp. 377-386 ◽  
Author(s):  
Mamoru Minami ◽  
◽  
Masatoshi Hatano ◽  
Toshiyuki Asakura ◽  
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Adaptive Control ◽  
Control System ◽  
Horizontal Plane ◽  
Mobile Manipulator ◽  
Mobile Manipulators ◽  
Adaptive Control System ◽  
Control Performance ◽  
Irregular Terrain

In the present study, we propose a control system for mobile operations of mobile manipulators traveling on irregular terrain. Irregularities exist even in structures such as man-made floors of factories and buildings. Since the hand of a mobile manipulator is often required to operate precisely while traveling on irregular terrain and it is subject to disturbance torques caused by traveling on terrain, a method for decreasing control errors caused by disturbances due to terrain must be considered. In the present paper, an adaptive control system including a compensator that uses a neural network, i.e., a neuro adaptive control system, is proposed. In addition, we discuss the control performance of the proposed control system, and show that the control system can decrease control errors occurring on irregular terrain to the levels of errors that occur while traveling on a horizontal plane.

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