Robust control of an autonomous mobile manipulator

A dynamic model for a mobile manipulator (robot manipulator mounted on a vehicle) is derived; the coupling effects between the two parts and a class of uncertainties are included. The uncertain nature of contact parameters between the wheels and ground calls for a robust control method. For control, all nonlinear terms and uncertainties are considered as external disturbances acting on a linear system. These disturbances are estimated via an observer and then compensated. A trajectory tracking controller can then be built as an outer loop around the inner linear loop