On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty
The trajectory an force tracking control problem of mobile robots subject to holonomic and nonholonomic constraints is considered in the case of unknown inertia parameters. Based on a certain parameter estimator, the asymptotic convergence to the desired trajectory, resp. to the desired force, is shown. The method is illustrated by a simulation study.
scientific article; zbMATH DE number 1797130