TY - GEN
T1 - Underactuated two-wheeled mobile manipulator control using nonlinear backstepping method
AU - Acar, Cihan
AU - Murakami, Toshiyuki
PY - 2008
Y1 - 2008
N2 - In this paper, control of an underactuated two-wheeled mobile manipulator using backstepping method is considered. Two-wheeled systems have many advantages compared to the statically stable systems. Mobile manipulators with two wheels have smaller footprints, which makes them more flexible and agile than the statically stable mobile manipulators. However, two-wheeled mobile manipulator is an underactuated system because of a passive joint. Therefore, it is required to stabilize the passive joint and control the position of center of gravity of the manipulator. To realize this, nonlinear backstepping based control method with a virtual double inverted pendulum is proposed in this paper.
AB - In this paper, control of an underactuated two-wheeled mobile manipulator using backstepping method is considered. Two-wheeled systems have many advantages compared to the statically stable systems. Mobile manipulators with two wheels have smaller footprints, which makes them more flexible and agile than the statically stable mobile manipulators. However, two-wheeled mobile manipulator is an underactuated system because of a passive joint. Therefore, it is required to stabilize the passive joint and control the position of center of gravity of the manipulator. To realize this, nonlinear backstepping based control method with a virtual double inverted pendulum is proposed in this paper.
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U2 - 10.1109/IECON.2008.4758206
DO - 10.1109/IECON.2008.4758206
M3 - Conference contribution
AN - SCOPUS:63149163422
SN - 9781424417667
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 1680
EP - 1685
BT - Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
PB - IEEE Computer Society
T2 - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
Y2 - 10 November 2008 through 13 November 2008
ER -