Adaptive tracking control for a new mobile manipulator model

The adaptive trajectory and force tracking control is considered for a new mobile manipulator under both holonomic and affine constraints with the presence of uncertainties and disturbances in this paper. A new state transformation is proposed to deal with the affine constraints, and then based on a suitable reduced dynamic model, adaptive controller is presented to ensure that the states of closed-loop system asymptotically track to desired trajectories while the constraint force remains bounded by tuning design parameters. Detailed simulation results confirm the effectiveness of the control strategy.