Adaptive Backstepping Tracking Control of Wheeled Mobile Manipulator With Output Constraints
In this study, an adaptive tracking control scheme with output constraints is proposed for wheeled mobile manipulators. Firstly, a backstepping controller utilizing a time-varying barrier Lyapunov function is proposed to limit the tracking error within prescribed bounds. Further, a radial basis func...
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| Format: | Article |
| Language: | English |
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IEEE
2024-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10813165/ |
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| author | Huzhenyu Zhang Dmitry A. Yudin Dmitry A. Makarov |
| author_facet | Huzhenyu Zhang Dmitry A. Yudin Dmitry A. Makarov |
| author_sort | Huzhenyu Zhang |
| collection | DOAJ |
| description | In this study, an adaptive tracking control scheme with output constraints is proposed for wheeled mobile manipulators. Firstly, a backstepping controller utilizing a time-varying barrier Lyapunov function is proposed to limit the tracking error within prescribed bounds. Further, a radial basis function neural network is employed to compensate for dynamic uncertainties and external disturbances. A stability analysis confirmed the semi-global uniform ultimate boundedness of the controller. Moreover, the results of Matlab simulations demonstrated the improved tracking performance of the proposed system compared with that of the adaptive sliding mode and model-based backstepping controllers. The developed code is publicly available at <uri>https://github.com/zhanghuzhenyu/wmm-control</uri>. |
| format | Article |
| id | doaj-art-a6d79bde07bf4d50b6766820261e7021 |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-a6d79bde07bf4d50b6766820261e70212025-01-15T00:02:08ZengIEEEIEEE Access2169-35362024-01-011219796719797910.1109/ACCESS.2024.352198910813165Adaptive Backstepping Tracking Control of Wheeled Mobile Manipulator With Output ConstraintsHuzhenyu Zhang0https://orcid.org/0009-0008-9136-7719Dmitry A. Yudin1https://orcid.org/0000-0002-1407-2633Dmitry A. Makarov2https://orcid.org/0000-0001-8930-1288Moscow Institute of Physics and Technology, Dolgoprudny, RussiaMoscow Institute of Physics and Technology, Dolgoprudny, RussiaMoscow Institute of Physics and Technology, Dolgoprudny, RussiaIn this study, an adaptive tracking control scheme with output constraints is proposed for wheeled mobile manipulators. Firstly, a backstepping controller utilizing a time-varying barrier Lyapunov function is proposed to limit the tracking error within prescribed bounds. Further, a radial basis function neural network is employed to compensate for dynamic uncertainties and external disturbances. A stability analysis confirmed the semi-global uniform ultimate boundedness of the controller. Moreover, the results of Matlab simulations demonstrated the improved tracking performance of the proposed system compared with that of the adaptive sliding mode and model-based backstepping controllers. The developed code is publicly available at <uri>https://github.com/zhanghuzhenyu/wmm-control</uri>.https://ieeexplore.ieee.org/document/10813165/Backstepping controltrajectory trackingwheeled mobile manipulatoroutput constraintadaptive control |
| spellingShingle | Huzhenyu Zhang Dmitry A. Yudin Dmitry A. Makarov Adaptive Backstepping Tracking Control of Wheeled Mobile Manipulator With Output Constraints IEEE Access Backstepping control trajectory tracking wheeled mobile manipulator output constraint adaptive control |
| title | Adaptive Backstepping Tracking Control of Wheeled Mobile Manipulator With Output Constraints |
| title_full | Adaptive Backstepping Tracking Control of Wheeled Mobile Manipulator With Output Constraints |
| title_fullStr | Adaptive Backstepping Tracking Control of Wheeled Mobile Manipulator With Output Constraints |
| title_full_unstemmed | Adaptive Backstepping Tracking Control of Wheeled Mobile Manipulator With Output Constraints |
| title_short | Adaptive Backstepping Tracking Control of Wheeled Mobile Manipulator With Output Constraints |
| title_sort | adaptive backstepping tracking control of wheeled mobile manipulator with output constraints |
| topic | Backstepping control trajectory tracking wheeled mobile manipulator output constraint adaptive control |
| url | https://ieeexplore.ieee.org/document/10813165/ |
| work_keys_str_mv | AT huzhenyuzhang adaptivebacksteppingtrackingcontrolofwheeledmobilemanipulatorwithoutputconstraints AT dmitryayudin adaptivebacksteppingtrackingcontrolofwheeledmobilemanipulatorwithoutputconstraints AT dmitryamakarov adaptivebacksteppingtrackingcontrolofwheeledmobilemanipulatorwithoutputconstraints |