On trajectory tracking control for nonholonomic mobile manipulators with dynamic uncertainties and external torque disturbances |
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| Authors: | Mohamed Boukattaya Mohamed Jallouli Tarak Damak |
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| Affiliation: | 1. Laboratory of Sciences and Techniques of Automatic control & computer engineering (Lab-STA), National School of Engineering of Sfax, University of Sfax, Postal Box 1173, 3038 Sfax, Tunisia;2. Laboratory of Computer Embedded Systems (CES), National School of Engineering of Sfax, University of Sfax, Postal Box 1173, 3038 Sfax, Tunisia;1. University of Sydney, Australia;2. The University of the South Pacific, Suva, Fiji;1. Nanyang Technological University, School of Electrical and Electronic Engineering, Singapore, 639798, Singapore;2. Department of Automation, Tsinghua University, Beijing, 100084, China;3. Department of Electrical and Computer Engineering, Polytechnical Institute of New York University, Brooklyn, NY, 11201, USA;1. College of Electrical and Information Engineering, Hunan University, Changsha, Hunan Province 410082, PR China;2. Faculty of Electronics Engineering, Industrial University of Hochiminh City, Hochiminh City, Vietnam |
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| Abstract: | This paper studies the trajectory tracking control problem of mobile manipulators subject to nonholonomic constraints, operating in task space, with the presence of external torque disturbances and dynamic uncertainties. The proposed controls are robust to external torque disturbances and can overcome the effects of the unknown dynamic parameters. The stability of the closed-loop system and the asymptotic convergences of tracking errors are proved using Lyapunov synthesis. The proposed control strategies have been designed to drive the system motion converges to the desired manifold and, at the same time, guarantees the boundedness of all the closed-loop signals. Simulation results validate that the system trajectory converge to the desired one. |
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