IEEE - Institute of Electrical and Electronics Engineers, Inc. - Adaptive Control and Optimization of Mobile Manipulation Subject to Input Saturation and Switching Constraints

Author(s): Ting Zhao ; Yueyue Liu ; Zhijun Li ; Chun-Yi Su ; Ying Feng
Sponsor(s): IEEE Robotics and Automation Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Volume: PP
Page(s): 1 - 13
ISSN (Electronic): 1558-3783
ISSN (Paper): 1545-5955
DOI: 10.1109/TASE.2018.2883343
Regular:

In this paper, a hierarchical hybrid motion/force control architecture for the manipulation and grasping of mobile manipulators is presented, where the systems are subject to varieties of physical... View More

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