FRUCHARD , Matthieu

This PhD thesis concerns the control of hybrid holonomic/ nonholonomic mobile manipulators, i.e. robots composed of a manipulator arm mounted on a mobile platform. This work is devoted to the determination of a general framework for the feedback control of such systems. These control methodologies are based on the fact that a general strategy...

This paper addresses the choice of the control horizon in a Nonlinear Model Predictive Control (NMPC) strat- egy for nonholonomic vehicles. The latter can be modeled by chained systems. We establish a relation between the degree of nonholonomy and the minimum length of the control horizon so as to make the full-state control possible. A...

We propose a general framework for the feedback control of nonholonomic mobile manipulators. The control laws derived with this approach allow to simultaneously execute a manipulation task and monitor the situation (position and orientation) of the nonholonomic platform on which the manipulator is mounted. The active monitoring of the...

This paper deals with state feedback control of chained systems based on a Nonlinear Model Predictive Control (NMPC) strategy. Chained systems can model many common nonholonomic vehicles. We establish a relation between the degree of nonholonomy and the minimum length of the control horizon so as to make the NMPC feasible. A necessary condition...