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《Journal of University of Science and Technology Beijing》 2003-01
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Robust Following Controller Design of Wheeled Mobile Manipulator

ZHANG Shuosheng, YU DataiBeijing Institute of Petro-Chemical Technology. Beijing 102600, ChinaRobotics Research Institute, University of Science and Technology Beijing, Beijing 100083, China  
Focusing on the nonholonomy and uncertainty of wheeled mobile manipulators, a robust following controller was presented, the dynamic following controller was designedby the method of backstepping kinematics into dynamics, and the neural network controllers for the mobile platform and manipulator by the genetic algorithm to search for the neural network's weights. The uncertainty terms were compensated. The robust controller was simulated using the simulink of Matlab and C MEX-file. The results show the controller has better robustness.
【CateGory Index】: TP242.6
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【Co-citations】
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1 Zhang Shuosheng (Department of Automation,Beijing Institute of Petro-chemical Technology, Beijing 102617) Yu Datai (Robotics Research Institute, Beijing University of Science and Technology, Beijing 100083);Dynamic Model of Wheeled Mobile Manipulator[J];Journal of Beijing Institufe of Petrochemical Technology;2002-02
2 WANG Zhen-hua,WANG Ben-li (Research Institute of Satellite Engineering and Technology, HIT, Harbin 150001, China);STABILITY ON THE MANIFOLD OF EQUILIBRIUM STATES WITH SMALL VIBRATIONS OF SPACE MANIPULATORS[J];Engineering Mechanics;2007-05
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1 Pei Xinzhe Liu Zhiyuan Pei Run (Dept. of Control Science and Engineering Harbin Institute of Technology, Harbin, 150001);Robust Trajectory Tracking Control of Wheeled Mobile Robot Based on MPC[A];[C];2003
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1 JIANG Chun-fu, YU Yue-qing ( College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100022, China );Current Development of Neural Network in Robot Control[J];Journal of Beijing Polytechnic University;2003-01
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