Adaptive Dynamic Surface Control of Mobile Manipulators Driven by Series Elastic Actuators

The mobile manipulator driven by series elastic actuators (SEAs) with small inertia, less energy consumption and higher interaction security plays an important role in human-computer interaction. In this paper, the adaptive dynamic surface backstepping controller is studied for mobile manipulators driven by SEAs, solving the inherent problem of "differential explosion" to the greatest extent. An adaptive framework is proposed, where an adaptive mechanism achieves the compensation of the discontinuous friction. The closed-loop stability is strictly established by Lyapunov stability analysis. Experiments have been conducted to verify the effectiveness of the proposed control strategy, and results show that both the manipulator and the mobile base can track the desired trajectory accurately.