On the Robust Hybrid Motion/Force Control of Nonholonomic Mobile Manipulators Including Actuator Dynamics

In this paper, robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. The controls are based on structural knowledge of the dynamics of the robot and the actuator dynamics is also taken into account. The proposed control is robust not only to structured uncertainty such as mass variation but also to unstructured one such as disturbances. Simulation results validate that not only the motion of the system converge to the desired trajectory, but also the constraint force converges to the desired force.