Robust adaptive motion/force control scheme for crawler-type mobile manipulator with nonholonomic constraint based on...

Area of Science:

• Robotics
• Control Systems Engineering
• Mechatronics

Background:

• Crawler-type mobile manipulators (CTMMs) are increasingly used in complex environments.
• CTMMs often operate under nonholonomic constraints, posing significant control challenges.
• Existing control methods may struggle with uncertainties and external disturbances in CTMM systems.

Purpose of the Study:

• To develop a robust adaptive motion/force control (RAMFC) scheme for CTMMs with nonholonomic constraints.
• To address unknown system parameter uncertainties and external disturbances.
• To ensure the stability and accuracy of both position tracking and force control.

Main Methods:

• An adaptive sliding mode tracking controller was designed for position control.
• A robust control strategy was developed for nonholonomic constraint forces, building on position tracking results.
• Lyapunov stability theory was employed to guarantee system stability and error boundedness.

Main Results:

• The proposed RAMFC scheme ensures the stability of the closed-loop control system.
• Uniformly ultimate boundedness of position tracking errors was achieved.
• Boundedness of force error and adaptive coefficient errors was guaranteed.

Conclusions:

• The developed RAMFC scheme is effective and robust for CTMMs with nonholonomic constraints.
• Simulation and experimental results validate the proposed control strategy.
• The RAMFC scheme provides reliable motion and force control under uncertainties and disturbances.