Adaptive dynamic coupling control of human-symbiotic wheeled mobile manipulators with hybrid joints

In this paper, adaptive dynamic coupling control is considered for hybrid joint, which could be switched to either active (actuated) or passive (under-actuated) mode, for human-symbiotic wheeled mobile manipulators. Based on Lyapunov synthesis, adaptive coupling control using physical properties of wheeled mobile manipulators proposed for passive hybrid joints ensures that the system outputs track the given bounded reference signals within a small neighborhood of zero, and guarantees semi-global uniform boundedness of all closed loop signals. The effectiveness of the proposed controls is verified through extensive simulations.