Title: Adaptive tracking control of a mobile manipulator actuated by DC motors

Authors: Amal Karray; Moez Feki

Addresses: Energy Management Laboratory (CEMLab), Sfax Engineering School, University of Sfax, BP 1073, 3038 Sfax, Tunisia ' Energy Management Laboratory (CEMLab), Sfax Engineering School, University of Sfax, BP 1073, 3038 Sfax, Tunisia

Abstract: In this paper, we propose a dynamic feedback control design to treat the trajectory tracking control for dynamic model of non-holonomic mobile manipulator actuated by DC motors with uncertain parameters and bounded external disturbances. The design is based on the backstepping method. On the first step, the velocity controller is considered as a virtual controller and is designed such that the desired positions are attained. On the second step, a computed torque controller is designed such that the mobile manipulator velocity converges to the desired velocity controller designed at the first step. To circumvent the unknown perturbation effects and the parameters uncertainties, an adaptive estimator is used. Next, an adaptive control scheme is designed to control DC motors that are used to provide the necessary torques. Simulation results are given to demonstrate the effectiveness of the proposed scheme.

Keywords: non-holonomic mobile robots; DC actuators; adaptive control; trajectory tracking; tracking control; mobile manipulators; robot control; robot tracking; feedback control; controller design; dynamic modelling; simulation; backstepping; velocity control; virtual controller; computed torque control; unknown perturbation effects; parameter uncertainties.

DOI: 10.1504/IJMIC.2014.060012

International Journal of Modelling, Identification and Control, 2014 Vol.21 No.2, pp.193 - 201

Available online: 24 Mar 2014 *

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