Abstract:The dynamic modeling and control of omni-directional mobile manipulators (OMM) are challenging since they are highly nonlinear, strongly coupled, and multi-input multi-output uncertainty systems. Koopman operator theory can provide an explicit linear dynamic model for OMM, only based on input-output data. However, the derived dynamic model usually has modeling errors and cannot capture external unknown disturbances. In this paper, a robust data-driven control scheme is designed and implemented for an OMM, base… Show more
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