On Robust Control of Mobile Manipulators
Abstract：This paper studies the tracking control problem of mobile manipulators in which parameter uncertainty, system friction and disturbance are considered. A robust tracking controller is proposed based on the defined tracking errors, the structural properties of the system, and Barbalat's lemmas. The proposed controller ensures the system state to asymptotically track the desired trajectory in the presence of uncertainties. Simulations presented in the paper show the effectiveness of the proposed approach.
Keywords：mobile manipulatortracking controlnonholonomic systemrobust controluncertainty
Publication Date：2002-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：4( 345-348 )