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Robust damping control of mobile manipulators

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2 Author(s)
Sheng Lin ; Dept. of Mech. & Ind. Eng., Toronto Univ., Ont., Canada ; Goldenberg, A.A.

A novel robust control technique, robust damping control (RDC), is introduced. An RDC controller is further developed for the motion control of a mobile manipulator subject to kinematic constraints. The knowledge of dynamic parameters of the mobile manipulator is assumed to be completely unknown. The proposed RDC controller is capable of disturbance-rejection in the presence of unknown bounded disturbance, without requiring the knowledge of its bound. The stability of the closed-loop system is guaranteed. The controller has a simple structure and can be easily implemented in applications. Experimental tests on a 2-DOF robotic manipulator illustrate that the proposed control is significantly better than conventional robust control

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Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:32 ,  Issue: 1 )