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Transactions: WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL
Transactions ID Number: 31-820
Full Name: Nguyen Thanh Phuong
Position: Lecturer
Age: ON
Sex: Male
Address: 144/24 DIEN BIEN PHU Str., 21 Ward, Binh Thanh Dist., Ho Chi Minh City
Country: VIETNAM
Tel: +84-93-2757142
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E-mail address: phuongkorea2005@yahoo.com
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Title of the Paper: Adaptive Tracking Control for Welding Mobile Manipulator with Unknown Dimentional Parameters
Authors as they appear in the Paper: Nguyen Thanh Phuong, Nguyen Hung, Ngo Cao Cuong, Tran Dinh Huy, Hak Kyeong Kim and Sang Bong Kim
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Number of paper pages: 12
Abstract: This paper presents an adaptive tracking control method for a welding mobile manipulator with a kinematic model in which several unknown dimensional parameters exist. The mobile manipulator consists of the manipulator plus the mobile-platform. The mobile manipulator is considered as two subsystems that are the manipulator and the mobile-platform. Therefore, the decentralized motion control method is used to design two independent controllers for two subsystems. These controllers are designed based on the Lyapunov function to guarantee the stability of the whole system when the end-effector of the manipulator performs a welding task. The update laws are also designed to estimate the unknown dimensional parameters. The simulation and experimental results are presented to show the effectiveness of the proposed controllers.
Keywords: adaptive tracking control, mobile-platform, manipulator, welding trajectory
EXTENSION of the file: .pdf
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