Iterative Learning Control for a Constrainted Mobile Vehicle-Manipulator System

This article focuses on the question of how to cope with the trajectory tracking and constraint handling issues for a flexible mobile vehicle-manipulator system with constant tension under uncertain environment disturbance. Several differential equations are derived to describe the considered mobile vehicle-manipulator system. Through cooperating of PD control and asymmetric barrier Lyapunov function, an iterative learning control tactic is put forward to ensure that the manipulator's vibration is weakened and the position of vehicle and the angular position of joint are both within given limited extent. In addition to theoretical analysis, finally, simulations are also given to demonstrate the validity of proposed control tactic.