On trajectory tracking control for nonholonomic mobile manipulators with dynamic uncertainties and external torque disturbances

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• 作者：Mohamed Boukattaya^a ; ^{mohamed.boukattaya@gmail.com}Author Vitae ; Mohamed Jallouli^b ; ^{mohamed.jallouli@enis.rnu.tn}Author Vitae ; Tarak Damak^a ; ^{tarak.damak@enis.rnu.tn}Author Vitae
• 关键词：Mobile manipulators ; Trajectory tracking ; Adaptive control ; External disturbances ; Dynamic uncertainties
• 刊名：Robotics and Autonomous Systems
• 出版年：2012
• 出版时间：December, 2012
• 年：2012
• 卷：60
• 期：12
• 页码：1640-1647
• 全文大小：752 K

文摘

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.