Robust adaptive control of uncertain force/motion constrained nonholonomic mobile manipulators |
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| Authors: | Z. Li [Author Vitae] S.S. Ge [Author Vitae] M. Adams [Author Vitae] [Author Vitae] |
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| Affiliation: | a Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117576, Singapore
b School of Electrical and Electronics Engineering, Nanyang Technological University, Singapore 639798, Singapore |
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| Abstract: | In this paper, force/motion tracking control is investigated for nonholonomic mobile manipulators with unknown parameters and disturbances under uncertain holonomic constraints. The nonholonomic mobile manipulator is transformed into a reduced chained form, and then, robust adaptive force/motion control with hybrid variable signals is proposed to compensate for parametric uncertainties and suppress bounded disturbances. The control scheme guarantees that the outputs of the dynamic system track some bounded auxiliary signals, which subsequently drive the kinematic system to the desired trajectory/force. Simulation studies on the control of a wheeled mobile manipulator are used to show the effectiveness of the proposed scheme. |
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| Keywords: | Mobile manipulator Trajectory/force control Nonholonomic/holonomic constraint |
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