Trajectory tracking control of a mobile manipulator with an external force compensation
This paper considers the problem of the accurate task space finite-time control susceptible to both undesirable disturbance forces exerted on the end-effector and unknown friction forces coming from joints directly driven by the actuators as well as unstructured forces resulting from the kinematic s...
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| Format: | Article |
| Language: | English |
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Polish Academy of Sciences
2021-07-01
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| Series: | Bulletin of the Polish Academy of Sciences: Technical Sciences |
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| Online Access: | https://journals.pan.pl/Content/120377/PDF/21_02130_Bpast.No.69(5)_drukM.pdf |