Tracking control of a mobile manipulator with fuzzy PD controller

In this paper, we suggest a fuzzy PD controller for a dynamic model of nonholonomic mobile manipulator in order to treat the trajectory tracking control and to eliminate the effect of external force on the end-effector. Firstly, the dynamic model of the mobile robot in motion space is detailed. Secondly, a fuzzy PD controller is conceived to adjust the parameters of the PD controller online depending on the actual state of the dynamic system. In particular, the mobile robot can follow every path such as a straight line or a sinusoid. Simulation results are given to demonstrate the effectiveness of the proposed controller and to illustrate the coordination of two subsystems in performing the desired trajectory.