Adaptive Robust Output-Feedback Motion/Force Control of Electrically Driven Nonholonomic Mobile Manipulators

Abstract

In this brief, adaptive robust output-feedback force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. The controls are developed on structural knowledge of the dynamics of the robot and actuators and in conjunction with a linear observer. The proposed controls are robust not only to parametric uncertainty such as mass variations but also to external ones such as disturbances. The system stability and the boundedness of tracking and observation errors are proven using Lyapunov stability synthesis. Simulation results validate that the states of the system converge to the desired trajectory, while the constraint force converges to the desired force.