抄録
This research is concerned with an adaptive controller of a 1-link mobile manipulator for moving operation while traveling on an unknown irregular terrain. Considering a condition that the end-effecter of the mobile manipulator should track a desired trajectory in the vehicle-fixed coordinates while the mobile manipulator traveling on an unknown irregular terrain, it is subjected to effects of disturbance torques derived from influences depending on the terrain, and moreover it is difficult to measure precisely the shape of the terrain. Therefore, some kinds of leaning mechanism must be integrated to the controller to achieve accurate trajectory tracking performances. In this paper, we show that an adaptive controller with a neural network can compensate such kinds of unknown disturbances. The validity of the neuro-adaptive controller is clarified through real experiments, which compare the simple adaptive controller and neuro-adaptive controller in two different conditions, that is horizontal plane and irregular terrain. This experimental results show that the neuro-adaptive controller can maintain almost the same tracking performances even on the unknown irregular terrain like as the performances on horizontal plane.
