ROBUST ADAPTIVE CONTROL OF MOBILE MANIPULATOR

Abstract

In this paper a robust control is applied to a two-wheeled mobile manipulator (WMM) to observe the dynamic behavior of the total system. To do so, the dynamic equation of the mobile manipulator is derived taking into account parametric uncertainties, external disturbances, and the dynamic interactions between the mobile platform and the manipulator; then, a robust controller is derived to compensate the uncertainty and disturbances solely based on the desired trajectory and sensory data of the joints and the mobile platform. Also, a combined system which composed of a computer and a multi-dropped PIC-based controller is developed using USB-CAN communication to meet the performance of demand of the whole system. What’s more, the simulation and experimental results are included to illustrate the performance of the robust control strategy.