University Yahia Fares Medea - Adaptive backstepping control of mobile manipulator robot based on virtual decomposition approach

2016 8th International Conference on Modelling, Identification and Control (ICMIC)

Author(s): A. Brahmi ; M. Saad ; G. Gauthier ; B. Brahmi ; W.-H Zhu ; J. Ghommam
Publisher: University Yahia Fares Medea
Publication Date: 1 November 2016
Conference Location: Algiers, Algeria
Conference Date: 15 November 2016
Page(s): 707 - 712
ISBN (Electronic): 978-0-9567157-7-7
DOI: 10.1109/ICMIC.2016.7804203

This paper presents an adaptive backstepping control scheme for a mobile manipulator robot based on the virtual decomposition control (VDC). The control scheme was applied on a three degrees of... View More