Adaptive fuzzy control of mobile manipulators

Robust and adaptive controller of the uncertain mobile manipulator with holonomic and non-holonomic constrains is designed. Considering some problems in model reduction by implicit function theorem when the mobile manipulator subjects to holonomic and non-holonomic constrains, an uniform expression of holonomic and non-holonomic constrains is introduced, and then based on the reduced model, a steady motion/force robust and adaptive nonlinear parameter fuzzy controller is designed. Theoretical analysis and simulation results indicate that the designed controller is effective.