Robust adaptive neural fuzzy control for autonomous redundant non-holonomic mobile modular manipulators

摘要

This paper discusses the trajectory-following issues for autonomous redundant non-holonomic mobile modular manipulators. An integrated dynamic modelling method is proposed. A Robust Adaptive Neural Fuzzy Controller (RANFC) is presented to control the end-effector to follow desired spacial trajectories. The proposed algorithm provides a new solution to stabilise redundant robotic self-motions. The RANFC does not need precise a priori dynamic parameters and can suppress bounded external disturbance. Furthermore, the RANFC does not need any off-line training phases and can incorporate human expert knowledge easily. Simulation results for a real mobile modular manipulator validate the proposed algorithm.