On tracking control of mobile manipulators

This paper studies the tracking control problem of mobile manipulators with consideration of the interaction between the mobile platform and the manipulator. A global tracking controller is proposed based on the dynamics of the defined tracking error and the extended Barbalat´s lemma. The proposed controller ensures that the full state of the system asymptotically track the given desired trajectory globally in the presence of the system coupling. Extensive simulations presented in the paper show the effectiveness of the proposed approach