Hybrid adaptive control laws solving a path following problem for non-holonomic mobile manipulators |
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Authors: | Alicja Mazur |
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Affiliation: | Institute of Engineering Cybernetics , Wroc?aw University of Technology , ul.Janiszewskiego 11/17, 50-372 Wroc?aw , Poland E-mail: alicja@ict.pwr.wroc.pl |
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Abstract: | In this paper a general solution to the path following problem for mobile manipulators with non-holonomic mobile platform has been presented. New proposed control algorithms — for mobile manipulators with fully known dynamics or with parametric uncertainty in the dynamics — take into considerations the kinematics as well as the dynamics of the non-holonomic mobile manipulator. The convergence of the control algorithms is proved using the LaSalle's invariance principle. |
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