Robust Hierarchical Tracking Control of Vehicle-Manipulator Systems
Dyrhaug, Jan Inge; Tveter, Erling; Schmidt-Didlaukies, Henrik; Basso, Erlend Andreas; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy
Journal article, Peer reviewed
Published version
Permanent lenke
https://hdl.handle.net/11250/3108753Utgivelsesdato
2023Metadata
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Originalversjon
IFAC-PapersOnLine Volume 56, Issue 2, 2023, Pages 6696-6702 https://doi.org/10.1016/j.ifacol.2023.10.373Sammendrag
For vehicle-manipulator systems (VMSs) to perform precise operations, a robust tracking control framework is required. Moreover, to exploit the platform's redundancy, it is desirable that the framework allows several tasks to be completed simultaneously. This work presents a robust hierarchical tracking controller for floating-base robots. In addition to providing uniform global asymptotic stability (UGAS) in free motion and allowing a total task dimension greater than the number of degrees of freedom (DoFs), the proposed controller includes a sliding mode effect and is proved to achieve UGAS even in the presence of bounded disturbances. Moreover, it is proved that uniform global ultimate boundedness (UGUB) is obtained if a continuous approximation of the sliding mode term is used. The stability results are proved mathematically, and are validated through simulations of an articulated intervention autonomous underwater vehicle (AIAUV).