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This paper studies the tracking control problem of mobile manipulators based on state observer. The proposed tracking controller ensures that the full state of the system can asymptotically track the given desired trajectory globally in the presence of the system coupling. Extensive simulations presented in the paper show the effectiveness of the proposed approach.
A mobile manipulator service robot comprising a mobile platform with a three-link arm mounted on top of the platform is considered. A torque compensation control approach is proposed for the robust motion control of the robot. Considering the coupling disturbance between the platform and the manipulator, the nominal model of service robot is built, applying computed torque and proportion-differential...
This paper proposes a sliding mode control approach for a wheeled mobile manipulator. The wheeled mobile manipulator composed of a four-wheeled mobile platform and a three-degree of freedom onboard manipulator. The dynamic models are established and the sliding mode control methods are employed. The entire control system is decomposed into two subsystems, including the sliding mode control of the...
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