The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper addresses the robust trajectory tracking problem for a redundantly actuated omnidirectional mobile manipulator in the presence of uncertainties and disturbances. The development of control algorithms is based on sliding mode control (SMC) technique. First, a dynamic model is derived based on the practical omnidirectional mobile manipulator system. Then, a SMC scheme, based on the fixed...
This paper focuses on developing a robust neural network (NN) based sliding mode controller (NNSMC) to solve the trajectory tracking problem of a redundantly-actuated omnidirectional mobile manipulator. The SMC is designed to be robust to disturbances assuring the stability of the system. The NN is used to identify the unstructured uncertainty of system dynamics. The stability of the closed-loop system,...
This paper addresses the trajectory tracking problem for an redundantly-actuated omnidirectional mobile manipulator system with uncertainties and disturbances. The proposed algorithm is robust adaptive control strategy and the parameter estimates are tuned online. First, for designing controller, the conservative upper-bounded function of dynamic model of omnidirectional mobile manipulator system...
A platform of the Internet-based teleoperation system with an omni-directional mobile robot which has a five DOFs robot arm is constructed. Remote control of the robot through the Internet is implemented. The system is featured as low-cost and user interface friendly: remote users can control the robot through the Internet just by a client program in a general computer. The client computer can receive...
A new fuzzy control design for way-point tracking control problem of ship autopilot is proposed. To effectively control ships in a designed trajectory is always an important task for ship manipulators. The paper gives the design method of a kind of fuzzy autopilot for way-point tracking control system. The fuzzy control rules are constructed based on human operator's manipulating experience. This...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.