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A New Hybrid Backstepping Approach for the Position/Force Control of Mobile Manipulators

  • Manju Rani
  • Dinanath
  • Naveen KumarEmail author
Conference paper
Part of the Communications in Computer and Information Science book series (CCIS, volume 922)

Abstract

Based on the conventional backstepping control scheme, a novel hybrid control law is presented which merges the advantages of the model-dependent and the intelligent-technique based model-free schemes. Further, anadaptive compensator term is also considered which provides the powerful robustness in the direction of the uncertainties that includes the reconstruction error and uncertain disturbances. By using the online adaptation of the parameters, stability analysis is performed and the complete system is asymptotic stable. The robustness and validity of the presented control technique are shown by the comparative computer simulation tests.

Keywords

Model-based controller Radial basis function Backstepping Asymptotical stable Constrained manipulators 

Notes

Acknowledgments

We thank the University Grants Commission (UGC) Sr.No. 2121240927 with Ref No. 23/12/2012 (ii) EU-V, New Delhi, India for their support.

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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  1. 1.Department of MathematicsNational Institute of Technology, KurukshetraKurukshetraIndia

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