Motion/Force Control for the Constrained Electrically Driven Mobile Manipulators Based on Hybrid Backstepping Control Approach

This paper designs a hybrid backstepping control approach for the constrained electrically driven mobile manipulator by merging the advantages of the model-based approach and the neural network-based model-free approach and the conventional backstepping control scheme. The backstepping approach provides the strong robustness against the uncertainties. Additionally, an adaptive compensator term is also adopted to diminish the effects of the uncertainties like reconstruction error, bounded external disturbances, and friction terms. Next, stability analysis is done by making use of the adaptation laws and Lyapunov stability theory. The complete system is guaranteed to be asymptotic stable. Simulation tests on two-link electrically driven manipulator demonstrate the efficiency and robustness of the presented control scheme.