Mathematical Model of Adaptive Control of a Collaborative Mobile Manipulator in a Shared Working Environment

Yevsieiv, V.

Публікація:
Mathematical Model of Adaptive Control of a Collaborative Mobile Manipulator in a Shared Working Environment

dc.contributor.author	Yevsieiv, V.
dc.date.accessioned	2025-10-03T20:29:26Z
dc.date.available	2025-10-03T20:29:26Z
dc.date.issued	2025
dc.description.abstract	This paper presents a mathematical model of adaptive control of a collaborative mobile manipulator in a shared working environment that meets the requirements of safe and effective human-robot interaction. The developed approach is based on an adaptive controller that provides accurate tracking of the desired trajectory even in the presence of parameter uncertainties. Numerical simulations have shown that the actual robot trajectory practically coincides with the given one, and the error does not exceed 0.05 rad and decreases asymptotically over time. In addition, the parametric adaptation system demonstrated a gradual approximation of the estimated parameter to the true one, which confirms the model's ability to self-learn in dynamic conditions. The results obtained indicate the high efficiency of the proposed method, its stability and prospects for implementation in the production processes of Industry 5.0.
dc.identifier.citation	Yevsieiv V. Mathematical Model of Adaptive Control of a Collaborative Mobile Manipulator in a Shared Working Environment / V. Yevsieiv // Manufacturing & Mechatronic Systems 2025 : Thesises of Reports of IX-st International Conference, October 25-26, 2025. - Kharkiv, 2025. - P. 22-25.
dc.identifier.uri	https://openarchive.nure.ua/handle/document/32841
dc.language.iso	en_US
dc.subject	adaptive control
dc.subject	mobile manipulator
dc.subject	trajectory tracking
dc.subject	collaborative robotics
dc.title	Mathematical Model of Adaptive Control of a Collaborative Mobile Manipulator in a Shared Working Environment
dc.type	Thesis
dspace.entity.type	Publication