Abstract
The switching joints can be switched to either active (actuated) or passive (under-actuated) mode as needed [1]; in this paper, dynamic coupling switching control incorporating fuzzy logic systems is developed for wheeled mobile manipulators with switching joints. The switching actuated robot dynamics is an mixed under-actuated and actuated model. The fuzzy logic systems are employed to approximate the high dimension unmodelled dynamics. Considering the joint switch as an event, the event-driven switching control strategy is used to ensure that the system outputs track the given bounded reference signals within a small neighborhood of zero.
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References
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Acknowledgments
This work is supported in part by the Natural Science Foundation of China under Grant 61174045 and Grant 61111130208, in part by the International Science and Technology Cooperation Program of China under Grant 2011DFA10950, and in part by the Fundamental Research Funds for the Central Universities under Grant 2011ZZ0104 the Program for New Century Excellent Talents in University No. NCET-12-0195.
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Li, Z. (2014). Adaptive Fuzzy Control for Wheeled Mobile Manipulators with Switching Joints. In: Sun, F., Li, T., Li, H. (eds) Foundations and Applications of Intelligent Systems. Advances in Intelligent Systems and Computing, vol 213. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37829-4_46
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DOI: https://doi.org/10.1007/978-3-642-37829-4_46
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