The objective of this thesis is to solve the trajectory tracking control problems of the mobile manipulators in two stages. In the first stage, a desired velocity input function for a steering system is designed by using Lyapunov stability theorem so that the posture of the mobile manipulator can track the reference trajectory. Further analysis shows that the vehicle of the mobile manipulator will achieve better result of trajectory tracking than the existent methods if the reference trajectory of the vehicle is not assigned to be static condition. In the second stage, the torque controller of the dynamic equations of the mobile manipulator with perturbations and input uncertainty is designed by adaptive variable structure control (AVSC) methodology, so that the actual velocity can track the desired velocity input function designed in the first stage. In addition, this controller with an adaptive mechanism embedded is capable of suppressing the perturbations with unknown upper bound except that from the input channel, and achieve asymptotical stability under certain mild conditions. Finally, an example of a two-link wheeled mobile manipulator is presented to demonstrate the feasibility of the proposed control schemes.
| Identifer | oai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0120107-232330 |
| Date | 20 January 2007 |
| Creators | Chen, Yi-Gu |
| Contributors | Chih-Chiang Cheng, Yuan-Liang Hsu, Jung-Wei Cheng |
| Publisher | NSYSU |
| Source Sets | NSYSU Electronic Thesis and Dissertation Archive |
| Language | English |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0120107-232330 |
| Rights | not_available, Copyright information available at source archive |
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