关键词: 跟踪控制, 移动机械臂, 电机动态

Abstract: An output tracking controller is devised to achieve output tracking of nonholonomic mobile manipulators with uncertain inertia parameters. The reduced dynamic model including motor dynamics is developed for nonholonomic mobile manipulators. The system is then decomposed into four lower-dimensional subsystems by applying diffeomorphism and nonlinear input transformation to the reduced model. The design of robust controller is also addressed for the output tracking of mobile manipulators. The results of numerical simulation demonstrate that the controller can track the given trajectory primely.

Key words: Tracking control, Mobile manipulators, Motor dynamics