Title: Tracking control for non-holonomic mobile manipulator using decentralised control strategy

Authors: Raouf Fareh; Abdelkrim Brahmi; Mohamad Saad; Maarouf Saad; Maamar Bettayeb

Addresses: Department of Electrical and Computer Engineering, University of Sharjah, P.O. Box 27272, Sharjah, UAE ' Electrical Engineering Department, Université du Québec, École de technologie supérieure, 1100 Notre-Dame Street West, Montreal, Quebec H3C 1K3, Canada ' School of Engineering, Université du Québec en Abitibi-Témiscamingue, 445, boul. de l'Université, Rouyn-Noranda, Quebec J9X 5E4, Canada ' Electrical Engineering Department, Université du Québec, École de technologie supérieure, 1100 Notre-Dame Street West, Montreal, Quebec H3C 1K3, Canada ' Department of Electrical and Computer Engineering, University of Sharjah, P.O. Box 27272, Sharjah, United Arab Emirates; CEIES, King Abdulaziz University, Jeddah, KSA

Abstract: This paper presents a tracking control strategy for a non-holonomic mobile manipulator using a decentralised control strategy. The mobile manipulator is viewed as an interconnection of two subsystems - a non-holonomic mobile platform subsystem and a holonomic manipulator subsystem. First, a kinematic controller of the two-wheel driven mobile platform is developed to obtain a desired velocity. Second, a distributed control strategy is developed in order to track a desired trajectory in the joint space. This desired trajectory is obtained from the workspace trajectory using the inverse kinematics. The distributed control strategy consists of controlling the manipulator, starting from the last joint and going backwards until the first joint. Each joint is controlled while assuming that the remaining joints and the platform are stable and follow their desired trajectories. The stability of the system is proved using Lyapunov theory. These controllers are tested on a three degrees-of-freedom mobile manipulator and compared with the computed torque approach. The experimental and simulation results present a good tracking which shows the effectiveness of this control strategy.

Keywords: mobile manipulator; modelling; decentralised control; distributed control; kinematic control stability.

DOI: 10.1504/IJMIC.2017.085299

International Journal of Modelling, Identification and Control, 2017 Vol.28 No.1, pp.58 - 69

Received: 04 Feb 2016
Accepted: 22 Jul 2016
Published online: 21 Jul 2017 *

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