In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncertainties and disturbances were estimated by the adaptive update technique. The proposed control ensures a relatively good system tracking, with all errors converging to zero. Unlike conventional sliding mode controls, the suggested is able to achieve superb performance, without resulting in any chattering problems, along with an extremely fast system trajectories convergence time to equilibrium. The aforementioned characteristics were attainable upon using an innovative reaching law based on potential functions. Furthermore, the Lyapunov approach was used to design the control law and to conduct a global stability analysis. Finally, experimental results and comparative study collected via a 05-DoF mobile manipulator robot, to track a given trajectory, showing the superior efficiency of the proposed control law.

在研究中，提出了一种惯性参数和扰动未知的非完整移动机械手的鲁棒自适应控制方法。首先，开发了机器人动力学模型的描述。此后，设计了一种新颖的自适应滑模控制，通过自适应更新技术估计了所有描述涉及不确定性和扰动的参数。所提出的控制确保了相对良好的系统跟踪，所有误差都收敛到零。与传统的滑模控制不同，建议能够实现卓越的性能，而不会导致任何抖动问题，以及极快的系统轨迹收敛时间到平衡。通过使用基于潜在函数的创新到达定律，可以实现上述特征。此外，Lyapunov 方法用于设计控制律并进行全局稳定性分析。最后，通过 05-DoF 移动机械手收集的实验结果和比较研究，跟踪给定的轨迹，显示了所提出的控制律的优越效​​率。