Adaptive Tracking Control of Coordinated Nonholonomic Mobile Manipulators

Abstract In this paper, adaptive control of multiple mobile manipulators carrying a common object in a cooperative manner with unknown inertia parameters and disturbances has been investigated. firstly, A complete dynamics consisting of the dynamics of mobile manipulators and the object is presented for coordinated multiple mobile manipulators. Then, adaptive control has been designed for compensating parametric uncertainties and suppressing disturbances. The control ensures that the output tracking errors of the system converge to zero whereas the internal force tracking error remains bounded and can be made arbitrarily small. Simulation studies show the effectiveness of the proposed scheme.