Tracking Control of Mobile Manipulators Based on Decentralized Control
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Bibliographic record
Abstract
This paper presents a decentralized control strategy for mobile manipulator systems. First, the whole system of mobile manipulator is divided into two interconnected subsystems: nonholonomic mobile platform subsystem and holonomic manipulator subsystem. Second, a kinematic and dynamic controllers are developed for mobile platform subsystem. The kinematic control provides the desired velocity that will be used to develop the dynamic controller that ensures the tracking of the desired trajectories of the mobile platform subsystem. Third, the control law of the manipulator subsystem is developed based on the desired and real values of the manipulator subsystem as well as the desired velocity of the platform subsystem. Lyapunov approach is used to prove the stability of the tracking error of both subsystems. Simulation results on 2 DOF manipulator mounted on a mobile platform are given to demonstrate the feasibility and effectiveness of the proposed approach.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it