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Adaptive finite-time backstepping control for a two-wheeled mobile manipulator

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Abstract

This study presents a dynamic modeling and adaptive finite-time backstepping control (AFBSC) strategy for a two-wheeled mobile platform with a three-link manipulator. The Euler-Lagrange method, partially combined with the Newton method, produces a simplified dynamic model wherein the complex coordination transformation process used in traditional mobile platform modeling processes is not required to be considered. Thus, the simplified two-wheeled mobile manipulator achieves fast locomotion and flexible manipulation in the given workspace. Finite-time backstepping virtual errors are introduced into the recursive design procedures to guarantee the rapid convergence of control performance. Furthermore, the uncertainties of coupled nonlinear dynamics are compensated by an adaptive error compensator. Comparative simulations and experiments with an adaptive finite-time sliding mode control (AFSMC) demonstrate the effectiveness of the proposed control scheme. The settling time and variance of tracking error are selected as the criteria that can reflect convergence speed and stability, respectively, under AFBSC and AFSMC, to analyze the experimental data.

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Authors and Affiliations

  1. Department of Electronics Engineering, Pusan National University, Jangjeon-dong, Geumjeong-gu, Busan, 609-735, Korea

    Yudong Zhao, Shikai Zhang & Jangmyung Lee

Authors
  1. Yudong Zhao
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  2. Shikai Zhang
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  3. Jangmyung Lee
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Corresponding author

Correspondence to Jangmyung Lee.

Additional information

Recommended by Associate Editor Sangyoon Lee

Yudong Zhao obtained his B.S. in Mechanical Design, Manufacturing, and Automation from Henan Polytechnic University, China in 2014 and his M.S. in Electronics Engineering from Pusan National University, Korea in 2016. He is currently working on a doctoral degree in Pusan National University. His research interests include computer vision, adaptive control theory, terminal sliding mode control, collaboration robotics, and surgical robots.

Shikai Zhang obtained his B.S. in Communication Engineering from Linyi University, China in 2016. He is currently pursuing a master’s degree in Pusan National University, Korea. His research interests include programming, image processing, and surgical robots.

Jangmyung Lee obtained his B.S. and M.S. in Electronics Engineering from Seoul National University, Seoul, Korea in 1980 and 1982, respectively, and his Ph.D. in Computer Engineering from the University of Southern California, Los Angeles, USA in 1990. He has been a Professor in the Intelligent Robot Laboratory, Pusan National University, Busan, Korea since 1992. His current research interests include intelligent robotic systems, ubiquitous ports, and intelligent sensors. Prof. Lee is a Past President of the Korean Robotics Society and a Vice President of Institute of Control, Robotics, and Systems. He is also the Head of the National Robotics Research Center, SPENALO.

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Zhao, Y., Zhang, S. & Lee, J. Adaptive finite-time backstepping control for a two-wheeled mobile manipulator. J Mech Sci Technol 32, 5897–5906 (2018). https://doi.org/10.1007/s12206-018-1140-6

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  • DOI: https://doi.org/10.1007/s12206-018-1140-6

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