Tracking control of mobile manipulator robot based on adaptive backstepping approach
by Abdelkrim Brahmi; Maarouf Saad; Guy Gauthier; Wen-Hong Zhu; Jawhar Ghommam
International Journal of Digital Signals and Smart Systems (IJDSSS), Vol. 1, No. 3, 2017

Abstract: This paper presents a tracking control of non-holonomic mobile manipulator robot using an adaptive backstepping control scheme based on the virtual decomposition control (VDC). The proposed control scheme was implemented on three degrees of freedom manipulator arm mounted on two degrees of freedom mobile platform subject to non-holonomic constraints to track a predefined workspace trajectory. The inverse kinematics algorithm is used to calculate the desired joint space trajectory. In the known decentralised control scheme, the mobile manipulator robot is divided into two subsystems including the manipulator arm and the mobile platform. In the proposed work, if the mobile manipulator has N degree of freedom, then it will be decomposed virtually into N subsystems. This simplifies both the control and the dynamic parameters' adaptation. The validation of the developed controller is proved in real time implementation. The experimental results show the effectiveness of the proposed control schemes based on the backstepping combined with the VDC approach.

Online publication date: Tue, 28-Nov-2017

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Digital Signals and Smart Systems (IJDSSS):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?


Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com