Adaptive Fuzzy Control for Wheeled Mobile Manipulators with Switching Joints

摘要

The switching joints can be switched to either active (actuated) or passive (under-actuated) mode as needed [1]; in this paper, dynamic coupling switching control incorporating fuzzy logic systems is developed for wheeled mobile manipulators with switching joints. The switching actuated robot dynamics is an mixed under-actuated and actuated model. The fuzzy logic systems are employed to approximate the high dimension unmodelled dynamics. Considering the joint switch as an event, the event-driven switching control strategy is used to ensure that the system outputs track the given bounded reference signals within a small neighborhood of zero.