Nonlinear PD Control of Mobile Manipulator Base During Arm Manipulation

This work proposes an approach applying Nonlinear Proportional Derivative (NPD) control, commonly used for parallel robots, to a mobile manipulator. The NPD control compensates for coupling effects between the base and the manipulator arm by updating proportional and derivative gains using position and velocity error measurements. Simulation results using AKASHA mobile manipulator models demonstrate the superiority of the nonlinear PD control approach over conventional PID control.