Have a personal or library account? Click to login
Adaptive and Robust Following of 3D Paths by a Holonomic Manipulator Cover

Adaptive and Robust Following of 3D Paths by a Holonomic Manipulator

Open Access
|Mar 2024

References

  1. F. Dyba, and A. Mazur. “Comparison of curvilinear parametrizations methods and avoidance of orthogonal singularities in the path following task,” Journal of Automation, Mobile Robotics and Intelligent Systems, 2023, accepted for publication.
  2. M. Galicki. “Adaptive control of kinematically redundant manipulator along a prescribed geometric path,” Robot Motion and Control. Lecture Notes in Control and Information Sciences, vol. 335, Springer, London, 2006, pp. 129–139.
  3. N. Hung, F. Rego, J. Quintas, J. Cruz, M. Jacinto, D. Souto, A. Potes, L. Sebastiao, and A. Pascoal. “A review of path following control strategies for autonomous robotic vehicles: Theory, simulations, and experiments,” Journal of Field Robotics, vol. 40(3), 2023, pp. 747–779.
  4. M. Krstić, I. Kanellakopoulos, and P. V. Kokotovic. Nonlinear and Adaptive Control Design, John Wiley & Sons, Inc.: New York, USA, 1995.
  5. A. Mazur, and M. Kaczmarek. “Following 3D Paths by a manipulator – adaptive case,” A. Mazur and C. Zieliński, editors, Advances in Robotics (in Polish), vol. 1, 2022, pp. 45–58.
  6. A. Mazur. “Hybrid adaptive control laws solving a path following problem for nonholonomic mobile manipulators,” Int. Journal of Control, vol. 77(15), 2004, pp. 1297–1306.
  7. A. Mazur, J. Płaskonka, and M. Kaczmarek. “Following 3D paths by a manipulator,” Archives of Control Sciences, vol. 25(1), 2015, pp. 117–133; doi: 10.1515/acsc-2015-0008.
  8. A. Mazur, and D. Szakiel. “On path following control of nonholonomic mobile manipulators,” International Journal of Applied Mathematics and Computer Science, vol. 19(4), 2009, pp. 561–574.
  9. A. Micaelli, and C. Samson. “Trajectory tracking for unicycle-type and two-steering-wheels mobile robots,” Technical Report No. 2097, Sophia-Antipolis, 1993.
  10. J. Płaskonka. “Different kinematic path following controllers for a wheeled mobile robot of (2,0) type,” Journal of Intelligent & Robotic Systems, vol. 77, 2013, pp. 481–498; doi: 10.1007/s10846-013-9879-6.
  11. D. Soetanto, L. Lapierre, and A. Pascoal. “Adaptive, non-singular path-following control of dynamic wheeled robots,” Proceedings of the IEEE Conference on Decision and Control, Maui, Hawaii, USA, 2003, pp. 1765–1770; doi: 10.1109/CDC.2003.1272868.
  12. K. Tchoń, A. Mazur, I. Dulęba, R. Hossa, and R. Muszyński. Manipulators and Mobile Robots: Models, Motion Planning, Control (in Polish), Academic Publishing House PLJ: Warsaw, 2000.
  13. V. Utkin, J. Guldner, and J. Shi. Sliding Mode Control in Electro-mechanical Systems, CRC Press, 1999.
DOI: https://doi.org/10.14313/jamris/3-2023/23 | Journal eISSN: 2080-2145 | Journal ISSN: 1897-8649
Language: English
Page range: 65 - 77
Submitted on: Mar 28, 2023
Accepted on: Jul 31, 2023
Published on: Mar 4, 2024
Published by: Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP
In partnership with: Paradigm Publishing Services
Publication frequency: 4 issues per year

© 2024 Alicja Mazur, Mirela Kaczmarek, published by Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.