Adaptive algorithm for a mobile manipulator with extended factitious force approach

In the paper a new control algorithm for mobile manipulators with skid-steering platform, moving on unknown terrain, has been introduced. Due to under-actuation of such mobile platforms, the concept of factitious force (which does not exist in reality and is assumed to be always 0) has been utilised. Presented control law, in non-adaptive and adaptive version, guarantees asymptotically fast convergence of tracking errors to 0, which has been proved in the article. Simulations, which have been conducted for the mobile manipulator consisting of skid-steering mobile platform and rigid 2R onboard arm, confirm that the developed control law works properly even in terrain, which parameters are unknown.