@inproceedings{6bea2d6b307d42b09af08f3b70333d16,
title = "ESO-Based Tracking Control for Omnidirectional Mobile Manipulator with Vibration Suppression",
abstract = "This paper proposes an Extended State Observer (ESO)-based control method for suppressing vibrations in the tracking control of an omnidirectional mobile manipulator(OMM). Firstly, a dynamic model incorporating unknown vibrations is derived for the OMM. Subsequently, a fixed-time ESO is developed to estimate these vibration-induced disturbances. The fixed-time controller is designed using the backstepping method. Additionally, the stability of the closed-loop system is analyzed using Lyapunov theory. The effectiveness of the proposed method is validated through simulations.",
keywords = "Extended state observer, Omnidirectional mobile manipulator, Tracking control, Vibration suppression",
author = "Linshuo Zheng and Yingmin Jia and Yanbo Wang",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.; 20th Chinese Intelligent Systems Conference, CISC 2024 ; Conference date: 26-10-2024 Through 27-10-2024",
year = "2024",
doi = "10.1007/978-981-97-8658-9\_52",
language = "英语",
isbn = "9789819786572",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "543--551",
editor = "Yingmin Jia and Weicun Zhang and Yongling Fu and Huihua Yang",
booktitle = "Proceedings of 2024 Chinese Intelligent Systems Conference",
address = "德国",
}