Position Tracking Control of a Mobile Vehicle-Manipulator System with Disturbances

In this thesis, the main consideration is how to construct and describe system model for a flexible mobile vehicle-manipulator system with tension and disturbances and design the control strategy for attaining the goals of position tracking. Hamilton's principle is applied to system modeling and some nonlinear differential equations are derived. On this basis, an effective position tracking control strategy is brought up, where two auxiliary signals are given to help to prove stability and symbolic functions are given to help to cope with disturbances. With given control strategy, both the vehicle and angular of joint can track the desired positions. Meanwhile, oscillation amplitude of manipulator is also decreased. At last, the validation of control strategy is proved via simulations.