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Trajectory Tracking and Stability Analysis for Mobile Manipulators Based on Decentralized Control

Published online by Cambridge University Press:  06 March 2019

Raouf Fareh*
Affiliation:
Department of Electrical and Computer Eng., University of Sharjah, P.O.Box 27272, Sharjah, UAE
Mohamad R. Saad
Affiliation:
School of Engineering, Université du Québec en Abitibi-Témiscamingue, 445, boul. de l’Université, Rouyn-Noranda (Québec), J9X 5E4, Canada E-mail: mohamad.saad@uqat.ca
Maarouf Saad
Affiliation:
Electrical Engineering Department, Université du Québec, École de technologie supérieure, 1100, rue Notre-Dame ouest, Montréal (Québec), H3C 1K3, Canada E-mails: maarouf.saad@etsmtl.ca, abdelkrim.brahmi.1@ens.etsmtl.ca
Abdelkrim Brahmi
Affiliation:
Electrical Engineering Department, Université du Québec, École de technologie supérieure, 1100, rue Notre-Dame ouest, Montréal (Québec), H3C 1K3, Canada E-mails: maarouf.saad@etsmtl.ca, abdelkrim.brahmi.1@ens.etsmtl.ca
Maamar Bettayeb
Affiliation:
Department of Electrical and Computer Eng., University of Sharjah, P.O.Box 27272, Sharjah, UAE Department of Electrical and Computer Engineering, University of Sharjah, P.O.Box 27272, Sharjah, United Arab Emirates and CEIES, King Abdulaziz University, Jeddah, KSA E-mail: maamar@sharjah.ac.ae
*
*Corresponding author. E-mail: rfareh@sharjah.ac.ae

Summary

Trajectory tracking of a mobile manipulator in the Cartesian space based on decentralized control is considered in this paper. The dynamic model is first rearranged to take the form of two interconnected subsystems with constraint flow, namely, a nonholonomic mobile platform subsystem and a holonomic manipulator subsystem. Secondly, using the inverse kinematics, the workspace desired trajectory of the mobile manipulator is transformed to the manipulator joint space as well as the platform desired trajectory. The kinematic control is developed from the desired trajectory of the platform. Then, the desired velocity is derived using the kinematic controller of the mobile platform, after which the velocity is used to obtain the control law of the mobile platform subsystem. Thirdly, the control law of the manipulator subsystem is developed based on the desired and real values of the manipulator, as well as the desired velocity. According to the Lyapunov stability theory, the proposed decentralized control strategy guarantees the global stability of the closed-loop system, and the tracking errors are bounded. Experimental results obtained on a 3-DOF manipulator mounted on a mobile platform are given to demonstrate the feasibility and effectiveness of the proposed approach. This is confirmed by a comparison with the computed torque approach.

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Articles
Copyright
© Cambridge University Press 2019 

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