Tracking control of mobile manipulator robot based on adaptive backstepping approach

摘要

This paper presents a tracking control of non-holonomic mobile manipulator robot using an adaptive backstepping control scheme based on the virtual decomposition control (VDC). The proposed control scheme was implemented on three degrees of freedom manipulator arm mounted on two degrees of freedom mobile platform subject to non-holonomic constraints to track a predefined workspace trajectory. The inverse kinematics algorithm is used to calculate the desired joint space trajectory. In the known decentralised control scheme, the mobile manipulator robot is divided into two subsystems including the manipulator arm and the mobile platform. In the proposed work, if the mobile manipulator has N degree of freedom, then it will be decomposed virtually into N subsystems. This simplifies both the control and the dynamic parameters' adaptation. The validation of the developed controller is proved in real time implementation. The experimental results show the effectiveness of the proposed control schemes based on the backstepping combined with the VDC approach.