Robust control with redundancy resolution and dynamic compensation for mobile manipulators

This paper presents the tracking control problem of a mobile manipulator system to maintain maximum manipulability and including the obstacle avoidance. The design of the controller is based on two cascaded subsystems: a minimum norm kinematic controller with command saturation, and a controller that compensates for the dynamics of the mobile manipulator system. Robot commands are defined in terms of reference velocities. Stability and robustness to parametric uncertainties are proved by using Lyapunov's method. Experimental results show a good performance of the proposed controller as proved by the theoretical design.