| Status | 已發表Published |
| Robust adaptive neuro-fuzzy control for nonholonomic mobile modular manipulators in task space | |
| Liu, Yugang1; Li, Yangmin1,2 | |
| 2005 | |
| Conference Name | 2005 IEEE International Conference on Robotics and Biomimetics, ROBIO |
| Source Publication | 2005 IEEE International Conference on Robotics and Biomimetics, ROBIO
 |
| Volume | 2005 |
| Pages | 66-71 |
| Conference Date | 7 5, 2005 - 7 9, 2005 |
| Conference Place | Shatin, N.T., China |
| Author of Source | Inst. of Elec. and Elec. Eng. Computer Society, 445 Hoes Lane - P.O.Box 1331, Piscataway, NJ 08855-1331, United States |
| Abstract | A robust adaptive neural-fuzzy (NF) controller is presented in this paper for trajectory following of nonholonomic mobile modular manipulators in task space. On the basis of modular robot concept, an integrated dynamic modeling method is proposed in consideration of the interactive motions and the nonholonomic constraints. NF systems are used as estimators to approximate dynamic model of the robot via off-line training, and adaptive on-line adjustment makes the controller be more robust. Sliding mode control and robust fuzzy logic control are introduced to suppress such errors as caused by parameter uncertainties and bounded external disturbances. Since this controller is designed in task-space directly, calculation of inverse Jacobian can be avoided. The proposed algorithm does not need exact dynamic parameters in advance and rules explosion can be avoided effectively. Simulation results for a real robot composed of a 4 degree of freedom (DOF) modular manipulator and a 3-wheeled nonholonomic mobile robot demonstrate that the proposed algorithm is effective. ©2005 IEEE. |
| Language | 英語English |
| Document Type | Conference paper |
| Collection | University of Macau |
| Affiliation | 1.Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Av. Padre Tom as Pereira S.J, Taipa, China; 2.University of Macau, Taipa, China |
| First Author Affilication | Faculty of Science and Technology |
| Recommended Citation GB/T 7714 | Liu, Yugang,Li, Yangmin. Robust adaptive neuro-fuzzy control for nonholonomic mobile modular manipulators in task space[C]. Inst. of Elec. and Elec. Eng. Computer Society, 445 Hoes Lane - P.O.Box 1331, Piscataway, NJ 08855-1331, United States, 2005, 66-71. |
| APA | Liu, Yugang., & Li, Yangmin (2005). Robust adaptive neuro-fuzzy control for nonholonomic mobile modular manipulators in task space. 2005 IEEE International Conference on Robotics and Biomimetics, ROBIO, 2005, 66-71. |
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