This paper investigates adaptive tracking control for mobile manipulators with stochastic disturbances and parametric uncertainties. Based on an appropriate reduced dynamic model and an adaptive law, a controller, whi...This paper investigates adaptive tracking control for mobile manipulators with stochastic disturbances and parametric uncertainties. Based on an appropriate reduced dynamic model and an adaptive law, a controller, which is provided by incorporating stochastic control theory with related adaptive technique, overcomes the problem of over-parametrization. It is shown that the designed state-feedback controllers can guarantee that the mean square of the tracking errors can be made arbitrarily small by choosing suitable design parameters. Simulation studies on the control of 2-DOF mobile manipulator shows the effectiveness of the proposed scheme.展开更多
基金supported by the National Natural Science Foundation of China under Grant Nos.61603170,61573177,61773191 and 61673243the Natural Science Foundation of Shandong Province for Outstanding Young Talents in Provincial Universities under Grant No.ZR2016JL025
文摘This paper investigates adaptive tracking control for mobile manipulators with stochastic disturbances and parametric uncertainties. Based on an appropriate reduced dynamic model and an adaptive law, a controller, which is provided by incorporating stochastic control theory with related adaptive technique, overcomes the problem of over-parametrization. It is shown that the designed state-feedback controllers can guarantee that the mean square of the tracking errors can be made arbitrarily small by choosing suitable design parameters. Simulation studies on the control of 2-DOF mobile manipulator shows the effectiveness of the proposed scheme.
