Intelligent tracking control of a dual-arm wheeled mobile manipulator with dynamic uncertainties

• Published in: International journal of robust and nonlinear control Vol. 23; no. 8; pp. 839 - 857
• Main Authors: Cheng, Meng-Bi, Su, Wu-Chung, Tsai, Ching-Chih, Nguyen, Thang
• Format: Journal Article
• Language: English
• Published: Bognor Regis Blackwell Publishing Ltd 25.05.2013; Wiley Subscription Services, Inc
• Subjects: Control systems; Dynamical systems; Dynamics; fuzzy neural network; Manifolds; Manipulators; Mathematical analysis; nonholonomic dynamic system; Nonlinear dynamics; sliding mode control; Uncertainty; wheeled mobile manipulator

SUMMARYThis paper presents an intelligent control approach that incorporates sliding mode control (SMC) and fuzzy neural network (FNN) into the implementation of back‐stepping control for a path tracking problem of a dual‐arm wheeled mobile manipulator subject to dynamic uncertainties and nonholonom...