Title: Adaptive control of mobile manipulators subject to external force and uncertainties

Authors: Mohamed Boukattaya; Tarak Damak; Mohamed Jallouli

Addresses: Control of Industrial Process Unit, Sfax Engineering School (ENIS), University of Sfax, B.P.W, 1173, Sfax, Tunisia ' Control of Industrial Process Unit, Sfax Engineering School (ENIS), University of Sfax, B.P.W, 1173, Sfax, Tunisia ' Control of Industrial Process Unit, Sfax Engineering School (ENIS), University of Sfax, B.P.W, 1173, Sfax, Tunisia

Abstract: This paper addresses the trajectory tracking control of a non-holonomic wheeled mobile manipulator subjected to uncertainties and external force. The proposed algorithm is robust adaptive control strategy where external force and uncertainties are compensated by adaptive update techniques. The proposed algorithm makes the robot follow simultaneously desired end-effector and platform trajectories in task space without violating the non-holonomic constraints. The system stability and the convergence of tracking errors are rigorously proved using a Lyapunov theory. Simulation results are given to illustrate the effectiveness of the proposed robust adaptive control law in comparison with a classical Computed Torque Controller (CTC).

Keywords: mobile manipulators; mobile robots; robust control; adaptive control; task space; robot control; tracking control; tracking control; wheeled robots; non-holonomic robots; mobile robots; uncertainties; external forces; computed torque; simulation.

DOI: 10.1504/IJVAS.2012.047694

International Journal of Vehicle Autonomous Systems, 2012 Vol.10 No.1/2, pp.105 - 116

Received: 04 Mar 2010
Accepted: 14 Oct 2010
Published online: 31 Dec 2014 *

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