Abstract
This paper presents an adaptive backstepping control scheme for a mobile manipulator robot based on the virtual decomposition control (VDC). The control scheme was applied on a three degrees of freedom manipulator arm mounted on a two degrees of freedom mobile platform to track a desired w or ks pac e tr ajec tory. The desired joint space trajectory is obtained by using the inverse kinematics. In this paper, the mobile manipulator has N degrees of freedom, divided virtually into N subsystems. The validation of the proposed scheme is proved in real time implementation. The experimental results show the effectiveness of the proposed control schemes based on VDC approach.
| Original language | English |
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| Title of host publication | Proceedings of 2016 8th International Conference on Modelling, Identification and Control, ICMIC 2016 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 707-712 |
| Number of pages | 6 |
| ISBN (Electronic) | 9780956715760 |
| DOIs | |
| State | Published - 17 Nov 2016 |
| Externally published | Yes |
Publication series
| Name | Proceedings of 2016 8th International Conference on Modelling, Identification and Control, ICMIC 2016 |
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Bibliographical note
Publisher Copyright:© 2016 University of MEDEA, Algeria.
Keywords
- adaptive backstepping control
- centralized/decentralized control
- Virtual decomposition control
ASJC Scopus subject areas
- Signal Processing
- Control and Systems Engineering
- Control and Optimization
- Modeling and Simulation