On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty

Authors:
Wenjie Dong
Affiliations:
Department of Automation, Tsinghua University, People's Republic of China
Venue:
Automatica (Journal of IFAC)
Year:
2002

Citing 1
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Abstract

This paper studies the trajectory and force tracking control problem of mobile manipulators subject to holonomic and nonholonomic constraints with unknown inertia parameters. Adaptive controllers are proposed based on a suitable reduced dynamic model, the defined reference signals and the mixed tracking errors. The proposed controllers not only ensure the entire state of the system to asymptotically converge to the desired trajectory but also ensure the constraint force to asymptotically converge to the desired force. A detailed numerical example is presented to illustrate the developed methods.