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• W2916488620 abstract "In this paper, a robust adaptive motion/force control (RAMFC) scheme is presented for a crawler-type mobile manipulator (CTMM) with nonholonomic constraint. For the position tracking control design, an adaptive sliding mode tracking controller is proposed to deal with the unknown upper bounds of system parameter uncertainties and external disturbances. Based on the position tracking results, a robust control strategy is also developed for the nonholonomic constraint force of CTMM. According to the Lyapunov stability theory, the stability of the closed-loop control system, the uniformly ultimately boundedness of position tracking errors, and the boundedness of the force error and adaptive coefficient errors are all guaranteed by using the derived RAMFC scheme. Simulation and experimental tests on a CTMM with two-link manipulator demonstrate the effectiveness and robustness of the proposed control scheme." @default.
• W2916488620 created "2019-03-02" @default.
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• W2916488620 date "2019-09-01" @default.
• W2916488620 modified "2023-10-16" @default.
• W2916488620 title "Robust adaptive motion/force control scheme for crawler-type mobile manipulator with nonholonomic constraint based on sliding mode control approach" @default.
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• W2916488620 doi "https://doi.org/10.1016/j.isatra.2019.02.009" @default.
• W2916488620 hasPubMedId "https://pubmed.ncbi.nlm.nih.gov/30837125" @default.
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