2024/07/11 by Tao Su, Su, Tao, Shiqi Zheng +1
Computer Science · Engineering · #Advanced Control Systems Optimization #Advanced Data Processing Techniques #FOS: Computer and information sciences #FOS: Electrical engineering #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2407.08234
openalex publication_date 2024/07/11 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This article focuses on the trajectory tracking problem of mobile manipulators (MMs). Firstly, we construct a position and orientation model predictive tracking control (POMPTC) scheme for mobile manipulators. The proposed POMPTC scheme can simultaneously minimize the tracking error, joint velocity, and joint acceleration. Moreover, it can achieve synchronous control for the position and orientation of the end-effector. Secondly, a finite-time convergent neural dynamics (FTCND) model is constructed to find the optimal solution of the POMPTC scheme. Then, based on the proposed POMPTC scheme, a non-singular fast terminal sliding model (NFTSM) control method is presented, which considers the disturbances caused by the base motion on the manipulator at the dynamic level. It can achieve finite-time tracking performance and improve the anti-disturbances ability. Finally, simulation and experiments show that the proposed control method has the advantages of strong robustness, fast convergence, and high control accuracy.