Robust damping control of mobile manipulators

A novel robust control technique, robust damping control (RDC), is introduced. An RDC controller is further developed for the motion control of a mobile manipulator subject to kinematic constraints. The knowledge of dynamic parameters of the mobile manipulator is assumed to be completely unknown. Th...

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Bibliographic Details
Published inIEEE transactions on systems, man and cybernetics. Part B, Cybernetics Vol. 32; no. 1; pp. 126 - 132
Main Authors Sheng Lin, Goldenberg, A.A.
Format Journal Article
LanguageEnglish
Published United States IEEE 01.02.2002
Subjects
Automatic control
Control systems
Cybernetics
Damping
Disturbances
Dynamical systems
Dynamics
Fuzzy control
Fuzzy sets
Fuzzy systems
Large-scale systems
Manipulators
Output feedback
Robot arms
Robust control
Stability
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ISSN1083-4419
DOI10.1109/3477.979968

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Summary:A novel robust control technique, robust damping control (RDC), is introduced. An RDC controller is further developed for the motion control of a mobile manipulator subject to kinematic constraints. The knowledge of dynamic parameters of the mobile manipulator is assumed to be completely unknown. The proposed RDC controller is capable of disturbance-rejection in the presence of unknown bounded disturbance, without requiring the knowledge of its bound. The stability of the closed-loop system is guaranteed. The controller has a simple structure and can be easily implemented in applications. Experimental tests on a 2-DOF robotic manipulator illustrate that the proposed control is significantly better than conventional robust control.
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ISSN:1083-4419
DOI:10.1109/3477.979968