Authors:
Alicja Mazur
1
;
Jurek Sasiadek
2
and
Mateusz Cholewiński
1
Affiliations:
1
Wrocław University of Technology, Poland
;
2
Carleton University, Canada
Keyword(s):
Mobile Manipulator, Nonholonomic Constraint, Robust Control, Disturbances.
Related
Ontology
Subjects/Areas/Topics:
Artificial Intelligence and Decision Support Systems
;
Control and Supervision Systems
;
Enterprise Information Systems
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Knowledge-Based Systems Applications
;
Robot Design, Development and Control
;
Robotics and Automation
;
Vehicle Control Applications
Abstract:
In this paper new approach to control of nonholonomic mobile manipulator with skid-steering platform has
been presented. For mathematical model of such object, expressed in auxiliary coordinates, control law based
on virtual force concept has been introduced. Skid-steering mobile platform is an underactuated control system
with rectangular input matrix. In our approach it was assumed that there exists additional control input, giving
additional column in input matrix and causing this matrix to be invertible. Because such actuator does not
exists in reality, therefore this input was kept equal to zero equivalently. Simulations have proved that such
method works properly in unknown terrain and in presence of disturbances.