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Design of a fuzzy trajectory tracking controller for a mobile manipulator system

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Abstract

Mobile manipulator robots that combine mobile platforms and robotic arms have been attracting considerable attention in recent years. In this paper, the motion control problem of the mobile manipulator system is considered with the following proposed control strategy. Firstly, a decoupled dynamic model is created to increase operation safety and to reduce complexity such that the independent controllers can be designed for the mobile system and the manipulator system. Subsequently, an effective reference trajectory generator is proposed to guide the mobile manipulator systems to the proper position for the manipulation being able to grip the target. Thereafter, the fuzzy controllers are designed for the mobile system to eliminate the tracking error and for the manipulator system to accomplish the gripping mission. The stability of the mobile manipulator control system can be guaranteed by the Lyapunov theory. Finally, the numerical simulations are given to demonstrate the effectiveness of the proposed approach. From the simulation results, it can be seen that this paper as well as other compared methods have good control response in case of small controller gain, in which the convergence time are about 4–5 s. However, by increasing the controller gain to improve the control response, the other methods will make the system unstable or the controller output will produce a large amount of chattering. The proposed controller in this paper can not only decrease the convergence time, from 5 to 3 s, but also provide a smooth control response.

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Funding

This research was supported by the Ministry of Science and Technology (MOST) of Taiwan under the contract MOST 110-2221-E-130-012.

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Authors and Affiliations

  1. Department of Information and Telecommunications Engineering, Ming Chuan University, Taipei, Taiwan

    Chia-Wen Chang

  2. Department of Electrical Engineering, National Ilan University, Yilan, Taiwan

    Chin-Wang Tao

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  1. Chia-Wen Chang
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  2. Chin-Wang Tao
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All authors have contributed equally to this manuscript.

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Correspondence to Chin-Wang Tao.

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Chang, CW., Tao, CW. Design of a fuzzy trajectory tracking controller for a mobile manipulator system. Soft Comput 28, 5197–5211 (2024). https://doi.org/10.1007/s00500-023-09298-z

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