Robust control of underactuated wheeled mobile manipulators using GPI disturbance observers

Morales Cabrera, Rafael and Sira Ramírez, Hebertt and Somolinos Sánchez, José Andrés (2013). Robust control of underactuated wheeled mobile manipulators using GPI disturbance observers. "Multibody System Dynamics" ; pp. 1-45. ISSN 1384-5640. https://doi.org/10.1007/s11044-013-9401-8.

Description

Title: Robust control of underactuated wheeled mobile manipulators using GPI disturbance observers
Author/s:
  • Morales Cabrera, Rafael
  • Sira Ramírez, Hebertt
  • Somolinos Sánchez, José Andrés
Item Type: Article
Título de Revista/Publicación: Multibody System Dynamics
Date: October 2013
ISSN: 1384-5640
Subjects:
Freetext Keywords: GPI control, Wheeled mobile manipulators, Disturbance cancelation, Robust output, Feedback control
Faculty: E.T.S.I. Navales (UPM)
Department: Sistemas Oceánicos y Navales [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

This article describes the design of a linear observer–linear controller-based robust output feedback scheme for output reference trajectory tracking tasks in the case of nonlinear, multivariable, nonholonomic underactuated mobile manipulators. The proposed linear feedback scheme is based on the use of a classical linear feedback controller and suitably extended, high-gain, linear Generalized Proportional Integral (GPI) observers, thus aiding the linear feedback controllers to provide an accurate simultaneous estimation of each flat output associated phase variables and of the exogenous and perturbation inputs. This information is used in the proposed feedback controller in (a) approximate, yet close, cancelations, as lumped unstructured time-varying terms, of the influence of the highly coupled nonlinearities, and (b) the devising of proper linear output feedback control laws based on the approximate estimates of the string of phase variables associated with the flat outputs simultaneously provided by the disturbance observers. Simulations reveal the effectiveness of the proposed approach.

More information

Item ID: 29501
DC Identifier: http://oa.upm.es/29501/
OAI Identifier: oai:oa.upm.es:29501
DOI: 10.1007/s11044-013-9401-8
Official URL: http://link.springer.com/article/10.1007%2Fs11044-013-9401-8
Deposited by: Memoria Investigacion
Deposited on: 14 Jul 2014 16:41
Last Modified: 11 May 2020 08:02
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