A fuzzy logic based motion control for nonholonomic mobile manipulator robots

This paper presents a motion control strategy using a fuzzy knowledge based system to tracking control a wheeled mobile manipulator robot. Also the robot modeling is considered in this paper. The proposed control has been designed to track the desired trajectory in the presence of uncertainties. The control scheme consists of four parts; a model-based kinematic control, a fuzzy logic based dynamic control, a decentralized PI control and an adaptive linear control. An advantage of the proposed scheme is simplicity in designing. The stability of control system for asymptotic convergence to the desired trajectory is proven using Lyapunov synthesis. The numerical simulation results show the superiority of the proposed control over a robust adaptive control.

I. Introduction

A mobile manipulator consists of one or some robotic manipulators which mounted on a mobile platform. In the recent years, an interest has increased in applying mobile manipulators. Some of these applications could be seen in gantry-mounted manipulators, mine detection robots, military robots and planetary exploration robots [1]. There are many studies related to mobile manipulators in last several decades. The trajectory tracking control is one of them. According to workspace of robot, the trajectory is planned, so the aim of control is to move the mobile manipulator and track desired task-space path precisely. Coupling between the wheeled mobile platform and its mounted manipulator arm, holonomic and holonomic constraints and nonlinearities are some of structural features that make difficult control designing for mobile manipulator robots [2].