Abstract: Based on kinetic analysis，a unified method for mobile manipulator is proposed to establish an integrated kinetic model.Aiming at its nonlinearity，this model is transformed into T-S（Takagi-Sugeno） fuzzy model.After that，a state feedback controller based on Linear Matrix Inequalities（LMI） is designed and the stability of the system is proved.The efficiency of the method received supports from the simulation results.

Key words: mobile manipulator, integrated kinetic model, Takagi-Sugeno fuzzy model, Linear Matrix Inequalities（LMI）, state feedback control

摘要： 对移动机械手进行动力学分析，给出了统一的移动机械手整体动力学建模方法;针对移动机械手的非线性特点，提出T-S模糊控制算法，将复杂的非线性强耦合系统转化为若干线性问题的组合;利用线性矩阵不等式方法为该系统设计了状态反馈控制器，并给出了整体系统的稳定性证明。仿真实验证明该控制器具有良好的控制效果和稳定性。

关键词: 移动机器人, 整体动力学模型, T-S模糊模型, 线性矩阵不等式, 状态反馈控制