Adaptive robust control of nonholonomic mobile manipulators with an application to condenser cleaning robotic systems

Abstract

In this paper, the motion control of nonholonomic mobile manipulators in presence of uncertainties and external disturbances is considered. An adaptive robust controller is proposed to overcome model uncertainties and bounded disturbances. The control design is developed without imposing any restriction on the system dynamics, and ensures the entire state of the system to asymptotically converge to the desired trajectory. The stability of the closed-loop system is provided using Lyapunov stability synthesis. Simulation results on a condenser cleaning robot are presented to show the effectiveness of the proposed scheme.