Adaptive neural-fuzzy control for a nonholonomic mobile modular manipulator moving on a slope

This paper addresses the task-space trajectory following issue for a nonholonomic mobile modular manipulator, which is composed of a 4-degree-of-freedom (DOF) modular manipulator and a 3-wheeled nonholonomic mobile platform. An adaptive neural-fuzzy controller (ANFC) is presented to control the end-effector to follow a desired spatial trajectory in a 3-D space. The proposed algorithm does not need exact dynamic parameters in advance, and can suppress bounded external disturbances effectively. No off-line training process is needed for the ANFC, and all the adjustable parameters can be initialized according to expert´s experience but not selected randomly. Simulation results demonstrate that the proposed controller is effective.