This paper addresses the trajectory tracking control of a nonholonomic wheeled mobile manipulator with parameter uncertainties and disturbances. The proposed algorithm adopts a robust adaptive control strategy where p...This paper addresses the trajectory tracking control of a nonholonomic wheeled mobile manipulator with parameter uncertainties and disturbances. The proposed algorithm adopts a robust adaptive control strategy where parametric uncertainties are compensated by adaptive update techniques and the disturbances are suppressed. A kinematic controller is first designed to make the robot follow a desired end-effector and platform trajectories in task space coordinates simultaneously. Then, an adaptive control scheme is proposed, which ensures that the trajectories are accurately tracked even in the presence of external disturbances and uncertainties. The system stability and the convergence of tracking errors to zero are rigorously proven using Lyapunov theory. Simulations results are given to illustrate the effectiveness of the proposed robust adaptive control law in comparison with a sliding mode controller.展开更多
The physicochemical characteristics of Khaya senegalensis seed oil were investigated. Iodine value, saponification value, percentage free fatty acid (FFA), acid value, and peroxide value were the chemical parameters e...The physicochemical characteristics of Khaya senegalensis seed oil were investigated. Iodine value, saponification value, percentage free fatty acid (FFA), acid value, and peroxide value were the chemical parameters examined in the oil analysis, while specific gravity and refractive index were examined as physical parameters. The results showed that the acid value was 1.18 ± 0.01, the saponification value was 191.76 ± 0.01 mgKOH/gm, and the iodine value was 102.79 ± 0.01. It contained 0.59 ± 0.01 percent free fatty acid. The value of peroxide was 6.83 ± 0.01 meq/kg. The results showed that the refractive index was 1.462 ± 0.02 and the specific gravity was 0.9194 ± 0.04. The established parameters fell within the worldwide and Nigerian vegetable oil industry standards.展开更多
文摘This paper addresses the trajectory tracking control of a nonholonomic wheeled mobile manipulator with parameter uncertainties and disturbances. The proposed algorithm adopts a robust adaptive control strategy where parametric uncertainties are compensated by adaptive update techniques and the disturbances are suppressed. A kinematic controller is first designed to make the robot follow a desired end-effector and platform trajectories in task space coordinates simultaneously. Then, an adaptive control scheme is proposed, which ensures that the trajectories are accurately tracked even in the presence of external disturbances and uncertainties. The system stability and the convergence of tracking errors to zero are rigorously proven using Lyapunov theory. Simulations results are given to illustrate the effectiveness of the proposed robust adaptive control law in comparison with a sliding mode controller.
文摘The physicochemical characteristics of Khaya senegalensis seed oil were investigated. Iodine value, saponification value, percentage free fatty acid (FFA), acid value, and peroxide value were the chemical parameters examined in the oil analysis, while specific gravity and refractive index were examined as physical parameters. The results showed that the acid value was 1.18 ± 0.01, the saponification value was 191.76 ± 0.01 mgKOH/gm, and the iodine value was 102.79 ± 0.01. It contained 0.59 ± 0.01 percent free fatty acid. The value of peroxide was 6.83 ± 0.01 meq/kg. The results showed that the refractive index was 1.462 ± 0.02 and the specific gravity was 0.9194 ± 0.04. The established parameters fell within the worldwide and Nigerian vegetable oil industry standards.
