Adaptive tracking control of mobile manipulator with holonomic and affine constraints

The adaptive trajectory and force tracking control is considered for mobile manipulator with holonomic constraints and affine constraints in this paper. A new state transformation is proposed to deal with the affine constraints, and then based on a suitable reduced dynamic model, adaptive controller is presented to ensure that the states of closed-loop system asymptotically track to desired trajectories while the constraint force remains bounded by tuning design parameters. Detailed simulation results confirm the effectiveness of the control strategy.