Motion Control for Constraint Mobile Robotic Manipulators in Singular Time Delay Form

The nonlinear dynamic description of a wheeled platform with active and passive resonators carrying a single link manipulator on an uphill/downhill road path including the road disturbance forces applied to the wheels is presented. The linear approximant of the description is derived to be in a singular neutral time delay system form. The design goal is to control the distance of the load from the road and the speed of the platform despite the presence of the disturbances. The approach is that of exact model matching with simultaneous disturbance rejection for singular neutral time delay systems. The matrices of the general controller are derived. The performance of the proposed control scheme is demonstrated through computational experiments upon the nonlinear description and the linear controller.