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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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2024-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10813165/ |
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