Adaptive Robust Output-feedback Motion/Force Control of Electrically Driven Nonholonomic Mobile Manipulators

In this paper, adaptive robust output-feedback 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 developed on structural knowledge of the dynamics of the robot, and the dynamics of actuators. The system stability and the boundedness of tracking errors are proved using Lyapunov stability synthesis. Simulation results validate that not only the states of the system asymptotically converge to the desired trajectory, but also the constraint force asymptotically converges to the desired force.