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simmediummobile-manipulationmetric · varies
Homogeneous Proportional-Integral-Derivative Controller in Mobile Robotic Manipulators
Description
Mobile robotic manipulators (MRMs), which integrate mobility and manipulation capabilities, present significant control challenges due to their nonlinear dynamics, underactuation, and coupling between the base and manipulator subsystems. This paper proposes a novel homogeneous Proportional-Integral-Derivative (hPID) control strategy tailored for MRMs to achieve robust and coordinated motion control. Unlike classical PID controllers, the hPID controller leverages the mathematical framework of hom