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

摘要： 针对非完整移动机械臂惯性参数的不确定性，采用滑模控制为其设计了输出跟踪控制器。首先给出了包括驱动电机动态特性的非完整移动机械臂的简化动态模型，然后通过微分同胚和输入变换将其分解为四个低阶子系统，并给出了其输出跟踪的滑模控制器设计方法。仿真实验表明，所设计的鲁棒控制器能很好地跟踪给定轨迹。

关键词: 跟踪控制, 移动机械臂, 电机动态