Feedforward model with cascading proportional derivative active force control for an articulated arm mobile manipulator

This thesis presents an approach for controlling a mobile manipulator (MM) using a two degree of freedom (DOF) controller which essentially comprises a cascading proportional-derivative (CPD) control and feedforward active force control (FAFC). MM possesses both features of mobile platform and indus...

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Bibliographic Details
Main Author: Abdullah, Shariman
Format: Thesis
Language:English
Published: 2016
Subjects:
Online Access:http://eprints.utm.my/id/eprint/81675/1/SharimanAbdullahPFKM2016.pdf
http://eprints.utm.my/id/eprint/81675/
http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:126339
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