Artificial force in robust control of mobile manipulator application

2013 ◽  
Author(s):  
Alicja Mazur ◽  
Mateusz Cholewinski
Keyword(s):  
Robust Control ◽  
Mobile Manipulator

scholarly journals ROBUST ADAPTIVE CONTROL OF MOBILE MANIPULATOR

2009 ◽  
Vol 12 (16) ◽  
pp. 19-50
Author(s):  
Lam Tan Chung ◽  
Sang Bong Kim
Keyword(s):  
Robust Control ◽  
Robust Adaptive Control ◽  
Mobile Platform ◽  
Mobile Manipulator ◽  
Total System ◽  
Combined System ◽  
Robust Controller ◽  
Dynamic Interactions ◽  
Sensory Data ◽  
Robust Adaptive

In this paper a robust control is applied to a two-wheeled mobile manipulator (WMM) to observe the dynamic behavior of the total system. To do so, the dynamic equation of the mobile manipulator is derived taking into account parametric uncertainties, external disturbances, and the dynamic interactions between the mobile platform and the manipulator; then, a robust controller is derived to compensate the uncertainty and disturbances solely based on the desired trajectory and sensory data of the joints and the mobile platform. Also, a combined system which composed of a computer and a multi-dropped PIC-based controller is developed using USB-CAN communication to meet the performance of demand of the whole system. What's more, the simulation and experimental results are included to illustrate the performance of the robust control strategy.

A Robust Control Approach for Primary Frequency Regulation through Variable Speed Wind Turbines

2010 ◽  
Vol 130 (11) ◽  
pp. 1002-1009 ◽  
Author(s):  
Jorge Morel ◽  
Hassan Bevrani ◽  
Teruhiko Ishii ◽  
Takashi Hiyama
Keyword(s):  
Robust Control ◽  
Wind Turbines ◽  
Frequency Regulation ◽  
Variable Speed ◽  
Control Approach ◽  
Primary Frequency
Sign in / Sign up

Export Citation Format

Share Document