A Robust Path Following Algorithm Based on the Orthogonal Bishop Parametrization for A non–Holonomic Mobile Manipulator

We deal with the fundamental problem of path following applied to control mobile manipulators. A parametric-based path following algorithm is proposed. Such an approach results in a cascaded structure of the control system, so that the control algorithm is designed using the backstepping integrator...

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Bibliographic Details

Published in:	International journal of applied mathematics and computer science Vol. 35; no. 2; pp. 209 - 224
Main Authors:	Mazur, Alicja, Dyba, Filip
Format:	Journal Article
Language:	English
Published:	Zielona Góra Sciendo 01.06.2025 De Gruyter Brill Sp. z o.o., Paradigm Publishing Services
Subjects:	Algorithms backstepping integrator control Control algorithms Control theory Manipulators non-holonomic mobile manipulator orthogonal Bishop parametrization Parameterization path following algorithm Robustness (mathematics) Simulation singularity avoidance Sliding mode control sliding mode controller Trajectory planning
ISSN:	1641-876X, 2083-8492
Online Access:	Get full text
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