Coordinated Motion Control of a Nonholonomic Mobile Manipulators Using Self-Tuning Fuzzy Logic Control

In this paper, a dynamic trajectory tracking controller is proposed for controlling a redundant mobile manipulator system. Firstly, the kinematic and dynamic models of the system under nonholonomic constraint is formulated. Then, a dynamic control algorithm is given by decoupling the overall movement of the system in task space movement and null space movement. The control of the two sub-spaces can be designed independently such that the priority is always given to the primary task. In order to enhance the performance of the system, a self-tuning fuzzy PD controller is used to control the main task and a Backstepping based fuzzy dynamic control is utilized to control the internal motion. Simulations are conducted to show the high-precision, the small control effort and the good robustness of the proposed intelligent algorithm in comparison with a conventional dynamic redundancy controller.