Title: Controlling and stabilising of non-holonomic wheeled mobile robot equipped with manipulator (WMRM)

Authors: Jun Xiao

Addresses: School of Electronic Engineering, Xi'an Aeronautical Institute, Xi'an, 710077, Shaanxi, China

Abstract: Mobile robots have a significant contribution to many fields from research, and industry to healthcare and beyond. Wheeled mobile robots (WMR) equipped with manipulators provide a flexible and attractive solution to grasp the targeted object from an unapproachable area where human access is not easy/possible. This research aims to control and stabilise the non-holonomic WMR equipped with a manipulator (WMRM). In this study, the model references adaptive control (MRAC) in conjunction with regulation, pole-placement, and tracking (RST) control scheme is designed to control the non-linear behaviour of the vehicle. The model used in this research has five degrees of freedom (DOF). Three DOFs for the vehicle and the manipulator has two DOFs. The designed control scheme stabilises the disturbances caused by the manipulator due to its continuous movement. Simulation results are compared with the RST controller and the designed scheme ensures higher efficiency, accuracy, robustness, and convergence to stability.

Keywords: adaptive RST controller; WMR; wheeled mobile robot; manipulation; degree of freedom; robotic arm based vehicle; robotic vehicle; control algorithm; non-holonomic vehicle.

DOI: 10.1504/IJAAC.2026.150566

International Journal of Automation and Control, 2026 Vol.20 No.1, pp.88 - 103

Received: 06 Aug 2023
Accepted: 24 Jan 2024
Published online: 17 Dec 2025 *

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