Hybrid adaptive control laws solving a path following problem for non-holonomic mobile manipulators

References

References

• Canudas de Wit C Siciliano B Bastin G 1990 Theory of Robot Control London Springer-Verlag
   Google Scholar
• Caracciolo L De Luca A Iannitti S 1999 Trajectory tracking of a four-wheel differentially driven mobile root Proceedings of the IEEE International Conference on Robotics and Automation Detroit MI USA 2632 2638
   Google Scholar
• D'Andrea-Novel , B , Campion , G and Bastin , G . 1995 . Control of wheeled mobile robots not satisfying ideal velocity constraints: a singular perturbation approach . International Journal of Robust and Nonlinear Control , 5 : 243 – 267 .
   Web of Science ®Google Scholar
• Descusse , J and Moog , CH . 1985 . Decoupling with dynamic compensation for strong invertible affine nonlinear systems . International Journal of Control , 42 : 1387 – 1398 .
   Web of Science ®Google Scholar
• Dulęba I 2000 Modelling and control of mobile manipulators Proceedings of the SYROCO' 2000 Vienna Austria 687 692
   Google Scholar
• Fliess , M , Levine , J , Martin , P and Rouchon , P . 1995 . Flatness and defect of non-linear systems: introductory theory and examples . International Journal of Control , 61 : 1327 – 1361 .
   Web of Science ®Google Scholar
• Fradkov A Miroshnik I Nikiforov V 1999 Nonlinear and Adaptive Control of Complex Systems, Kluwer Academic Publishers Dordrecht
   Google Scholar
• Jiang , ZP and Nijmeijer , H . 1999 . A recursive technique for tracking control of nonholonomic systems in chained form . IEEE Transactions on Automatic Control , 44 : 265 – 279 .
   Web of Science ®Google Scholar
• Kapitanovsky , A , Goldenberg , AA and Mills , JK . 1993 . Dynamic control and motion planning technique for a class of nonlinear systems with drift . Systems & Control Letters , 21 : 363 – 369 .
   Web of Science ®Google Scholar
• Kozłowski , K and Majchrzak , J . 2002 . A new control algorithm for a nonholonomic mobile robot . Archives of Control Sciences , 12 : 37 – 70 .
   Google Scholar
• Krstić M Kanellakopoulos I Kokotović P 1995 Nonlinear and Adaptive Control Design, J. Wiley and Sons New York
   Google Scholar
• Lee TC Lee CH Teng CC 1999 Adaptive tracking control of nonholonomic mobile robots by computed torque Proceedings of the CDC'99 Singapore 1254 1259
   Google Scholar
• Mazur A 1999 Modelling of nonholonomic mobile manipulators Technical report of Inst. Eng. Cyb. Wrocław University of Technology (in Polish)
   Google Scholar
• Nakamura , Y , Chung , W and Sørdalen , OJ . 2001 . Design and control of the nonholonomic manipulator . IEEE Transactions on Robotics and Automation , 17 : 48 – 59 .
   Google Scholar
• Oya , M , Su , C-Y and Katoh , R . 2003 . Robust adaptive motion/force tracking control of uncertain nonholonomic mechanical systems . IEEE Transactions on Robotics and Automation , 19 : 175 – 181 .
   Google Scholar
• Pomet , JB . 1992 . Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift . Systems & Control Letters , 18 : 147 – 158 .
   Web of Science ®Google Scholar
• Samson , C . 1993 . Time-varying feedback stabilization of car-like wheeled mobile robots . International Journal of Robotics Research , 12 : 55 – 64 .
   Web of Science ®Google Scholar
• Samson , C . 1995 . Control of chained systems — application to path following and time-varying point-stabilization of mobile robots . IEEE Transactions on Automatic Control , 40 : 147 – 158 .
   Web of Science ®Google Scholar
• Samson C Ait-Abderrahim K 1991 Feedback control of a nonholonomic wheeled cart in cartesian space Proceedings of the IEEE International Conference on Robotics and Automation Sacramento CA USA 1136 1141
   Google Scholar
• Slotine , JJ and Li , W . 1988 . Adaptive manipulator control: a case study . IEEE Transactions on Automatic Control , 33 : 995 – 1003 .
   Web of Science ®Google Scholar
• Tchoń K Jakubiak J 2004 Acceleration-driven kinematics of mobile manipulators: an endogenous configuration space approach On Advances in Robotic Kinematics J. Lenar[cbreve]i[cbreve] and C. Galletti (Eds.) The Netherlands Kluwer Academic Publishers 469 476
   Google Scholar
• Tchoń K Jakubiak J Zadarnowska K 2004 Doubly nonholonomic mobile manipulators Proceedings of the IEEE international Conference on Robotics and Automation New Orleans 4590 4595
   Google Scholar
• Yamamoto , Y and Yun , X . 1996 . Effect of the dynamic interaction on coordinated control of mobile manipulators . IEEE Transactions on Robotics and Automation , 12 : 816 – 824 .
   Google Scholar