Kinematic control of wheeled mobile manipulators subject to inherent physical constraints and noise disturbances

摘要

This paper focuses on the kinematic control of wheeled mobile manipulator with physical limits and external noise disturbances. Based on the quadratic program, a hybrid multi-objective control (HMOC) scheme incorporating path following and physical constraints' compliance is proposed, where the path following task is formulated as an equality constraint. With the velocity escape method, physical limits are incorporated and totally described as an inequality constraint. An integration-enhanced state feedback strategy considering derivation between the robot's real position and the desired position is designed with an aim at achieving anti-noise capability for HMOC scheme, which is shown to improve the tracking performance of the robot in following the desired trajectory under noise disturbances. Lagrangian-based controller is constructed as an online solver of the resultant HMOC scheme to output and update control variables iteratively. With numerical simulation, efficiency of the HMOC scheme and Lagrangian-based controller are validated.