Performance Investigations of an Improved Backstepping Operational space Position Tracking Control of a Mobile Manipulator

Defence science journal

article

Swati Mishra¹  Santhakumar Mohan²  Santosh Kumar Vishvakarma¹ 

[1] Indian Institute of Technology;Discipline of Mechanical Engineering, Indian Institute of Technology

关键词: Adaptive control;    backstepping design;    operational-space motion control;    mobile-manipulator;    kinematic redundancy;    disturbance observer;   

DOI  :  10.14429/dsj.71.16000

学科分类：社会科学、人文和艺术（综合）

来源: Defence Scientific Information & Documentation Centre

【 摘 要 】

This article implies an improved backstepping control technique for the operational-space position tracking of a kinematically redundant mobile manipulator. The mobile manipulator thought-out for the analysis has a vehicle base with four mecanum wheels and a serial manipulator arm with three rotary actuated joints. The recommended motion controller provides a safeguard against the system dynamic variations owing to the parameter uncertainties, unmodelled system dynamics and unknown exterior disturbances. The Lyapunov’s direct method assists in designing and authenticating the system’s closed-loop stability and tracking ability of the suggested control strategy. The feasibility, effectiveness and robustness of the recommended controller are demonstrated and investigated numerically with the help of computer based simulations. The mathematical model used for the computer-based simulations is derived based on a real-time mobile manipulator and the derived model is further verified with an inbuilt gazebo model in a robot operating system (ROS) environment. In addition, the proposed scheme is verified on an in-house fabricated mobile manipulator system. Further, the recommended controller performance is correlated with the conventional backstepping control design in both computer-based simulations and in real-time experiments.

【 授权许可】

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