An adaptive robust backstepping improved control scheme for mobile manipulators robot

In this study, an approach with the position control scheme is proposed for the mobile manipulator robot, by applying the adaptive strategies with the backstepping control technique. In the proposed backstepping controller, the fixed problem of main control parameters has been improved by the adaptive self-updating process. In addition, this control method requires no prior knowledge of the control system, such as the unknown dynamics and disturbances. And, to relax uncertainties, an adaptive robust controller is also designed as a compensator for the main backstepping controller. Moreover, all adaptive updating algorithms are designed based on the Lyapunov theorem so that the proposed control system performances are guaranteed. The advantage of the improved control system will be evaluated via simulation results for the 3 -DOF MMR system.& COPY; 2023 ISA. Published by Elsevier Ltd. All rights reserved.

Automated summary

An approach with position control scheme is proposed for a mobile manipulator robot, using adaptive strategies and backstepping control technique. The improved backstepping controller solves the fixed problem of main control parameters through adaptive self-updating process. The control system performances are guaranteed by designing all adaptive updating algorithms based on the Lyapunov theorem.