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Authors
Alicja Mazur; Marcin Kulawik

Identifier
10.3182/20060906-3-IT-2910.00076

Index Terms
nonholonomic constraints,adaptive control,trajectory tracking

Abstract
In the paper a solution to adaptive trajectory tracking problem for doubly nonholonomic mobile manipulators has been presented. The proposed control algorithms take into considerations the kinematics as well as the dynamics of the whole nonholonomic system. Kinematic controller consists of two parts: Jiang & Nijmeijer controller for a nonholonomic manipulator and Samson controller for a mobile platform. Dynamic controllers preserve asymptotic trajectory tracking for the case of full knowledge of dynamic parameters and even with parametric uncertainty in dynamics. Theoretical considerations have been illustrated with simulations.

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