International Journal of Intelligent Computing and Cybernetics

Emerald Article: Adaptive robust tracking control for mobile manipulators

in the task-space under uncertainties
Mohamad Boukattaya, Tarak Damak, Mohamed Jallouli
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Adaptive robust tracking control
for mobile manipulators in the
task-space under uncertainties
Mohamad Boukattaya and Tarak Damak
Control of Industrial Process Unit, Sfax Engineering School, Sfax, Tunisia, and
Mohamed Jallouli
Intelligent Control Design and Optimization of Complex System Unit,
Sfax Engineering School, Sfax, Tunisia
Abstract
Purpose The purpose of this paper is to address the trajectory tracking control in task space of a
non-holonomic wheeled mobile manipulator with parameter uncertainties and disturbances. The
proposed algorithmis robust adaptive control strategy where parametric uncertainties are compensated
by adaptive update techniques and the disturbances are suppressed. The system stability and the
convergence of tracking errors to zero are rigorously proved using a Lyapunov theory.
Design/methodology/approach The proposed algorithm is derived based on the advantage of
the robot regressor dynamics that express the highly non-linear robot dynamics in a linear form in
terms of the known and unknown robot parameters. The update law for the unknown dynamic
parameters is obtained using Lyapunov theory.
Findings Simulation experiments show the effectiveness of the proposed robust adaptive based
controller in comparison with a classical passivity based controller.
Originality/value The proposed adaptive approach is interesting for the control of the mobile
manipulators in the task space coordinate even in the presence of dynamic uncertainties and external
disturbances.
Keywords Tracking, Control technology, Robots, Trajectories, Uncertainty management
Paper type Research paper
1. Introduction
Mobile manipulators refer to robotic manipulators (or arms) mounted on mobile platforms
(or vehicles). Such systems combine the advantages of mobile platforms and robotic arms
and reduce their drawbacks. The mobile platformextends the arms workspace, whereas
the arm offers much operational functionality. Applications for such systems could be
found in mining, construction, forestry, planetary exploration and military Pavlov and
Timofeyev (1976), Chung and Velinsky (1998) and Watanabe et al. (2000). With the
assumption of known dynamics, much research has been carried out. In Yamamoto and
Yun (1996), non-linear feedback control for the mobile manipulator was developed to
compensate for the dynamic interaction between the mobile platform and the arm to
achieve tracking performance. In Khatib (1999), coordination and control of mobile
manipulators were presented with two basic task-oriented controls: end-effector task
control and platformself posture control. In Hootsmanns and Dubowsky (1991), a control
method based on an extended Jacobian transpose was proposed to compensate for
dynamic interactions between the manipulator and platform. In Spong (2005), a computed
The current issue and full text archive of this journal is available at
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Adaptive
tracking control
81
Received 25 January 2010
Revised 10 October 2010
Accepted 16 October 2010
International Journal of Intelligent
Computing and Cybernetics
Vol. 4 No. 1, 2011
pp. 81-92
qEmerald Group Publishing Limited
1756-378X
DOI 10.1108/17563781111115804
torque control was developed using as examples a car-like mobile manipulator and a
differentially driven mobile manipulator. Most previous approaches require a precise
knowledge of the dynamics of the system and ignore external disturbance. These issues
make the proposed schemes inappropriate for realistic applications. To handle these
difculties, adaptive and intelligent schemes were investigated to deal with mobile
manipulators with unknown parameters and disturbances. In Xu et al. (2008), a robust
control scheme usingneural networkcombinedwithslidingmode controller is proposedto
solve trajectory tracking problem for mobile manipulators. This control scheme not only
overcomes the unstructured uncertainties, but also has the capability of disturbance
rejection in the presence of unknown bounded disturbances. In Gao et al. (2008), an
intelligent controller based on radial basic function neural network is introduced for the
coordinating control of mobile manipulators when external disturbances acting on the
system. In Tan et al. (2008), an adaptive hybrid control scheme combining the kinematics
of the mobile platform and the unied dynamic model of the mobile manipulator was
proposed. This controller consists of two parts: one is responsible for the tracking control
of the mobile platformin kinematics. The other part is for the robot armin dynamics. For
further consideration of unmodeled dynamics and external disturbances, a radial basis
function neural-network (RBFNN) is adopted in the adaptive controller. An unied model
and robust neural-network controller was also investigated in Tan et al. (2007), where a
computed torque method and RBFNN were used to approximate the unstructured or
structured uncertainties of the mobile manipulator. In Li et al. (2010), an adaptive robust
control strategyextendedto the actuator level for multiple mobile manipulators carryinga
common object was presented. The proposed controls are robust not only to parametric
uncertainties including mass variation and electrical parameters, but also to external
disturbances. In Tsai et al. (2007), a robust tracking control scheme incorporating the
advantages of the sliding mode control together with the NN approach, for achieving
trajectorytrackingcontrol of a non-holonomic wheeledmobile platformwithdual onboard
multi-linkarms was proposed. The signicant features of the proposedcontroller hinge on
no prior knowledge of the mobile manipulators dynamics.
Most of the previous research work designed the controller in joint space and used a
complicated and a computationally expensive learning algorithm. In order to overcome
these difculties, an adaptive control in task space will be proposed based on the
advantage of the robot regressor dynamics that express the highly nonlinear robot
dynamics in a linear form in terms of the known and unknown robot parameters.
The proposed adaptive algorithmdoes not rely on precise prior knowledge of dynamics
parameters, andit cansuppress disturbances andmodeling errors causedbyparameters
uncertainties.
This paper is organized as follows. Section 2 is devoted to kinematic and dynamic
modeling of the mobile manipulator with non-holonomic constraints. Section 3 presents
the design of the robust adaptive controller. Section 4 presents computer simulation
results to illustrate the effectiveness of the proposed theory. Conclusions are formulated
in Section 5.
2. Modeling of a mobile manipulator
2.1. Kinematic modeling
Consider the mobile manipulator system shown in Figure 1.
IJICC
4,1
82
The mobile platform moves by driving two independent wheels. Assuming that the
two driven wheels do not slip, the following constraint equation may be derived:
_ x
F
sin w 2 _ y
F
cos w _ wd 0: 1
where x
F
and y
F
are the coordinates of the point F, base point of the manipulator in
world coordinate system, w is the heading angle of the d is the distance between the
wheel axis and F.
It can be shown, that equation (1) is a non-holonomic constraint, i.e. a constraint
which cannot be integrated analytically. For the mobile platform, the direct kinematics
equation relating linear velocity of F to the wheel velocities is:
_ x
F
_ y
F
" #

r
2b
bC
0
dS
0

r
2b
bC
0
2dS
0

r
2b
bS
0
2dC
0

r
2b
bS
0
dC
0

2
4
3
5
_
u
R
_
u
L
" #
: 2
where
_
u
R
and
_
u
L
, are the angular velocities of the right and the left wheels, respectively,
C
0
cosw and S
0
sinw. Displaying the rotation matrix explicitly, we can write
equation (2) as:
_ x
F
_ y
F
" #

C
0
2S
0
S
0
C
0
" #
r
2
r
2
2dr
2b
dr
2b
2
4
3
5
_
u
R
_
u
L
" #
: 3
The linear velocity of the end-effector is found using the fact that its base velocity is
known and given by equation (3). Therefore, the end-effector velocity is written as:
Figure 1.
Mobile manipulator
system on a
differentially-driven
platform
q
L
q
R
j
q
1
q
2
L
1
(m
2
, I
2
)
(m
1
, I
1
)
(m
w
, I
w
)
(m
c
, I
c
)
L
2
E
F
b
b
y
x O
r
d
O
Adaptive
tracking control
83
_ x
E
_ y
E
" #

_ x
F
_ y
F
" #

C
0
2S
0
S
0
C
0
" #
J
11
J
12
J
21
J
22
" #
_
u
1
_ w
_
u
2
" #
: 4
where J
ii
i; j 1; 2 terms are the elements of the xed-base Jacobian of the
manipulator employed, given by:
J
11
2L
1
S
1
2L
2
S
12
; J
12
2L
2
S
12
; J
21
L
1
C
1
L
2
C
12
; J
22
L
2
C
12
where L
1
, L
2
are the lengths of the rst, and the second arm, respectively, and u
1
, u
2
, are
the joint variables of the manipulator. With the notation: C
i
cosu
i
, S
i
sinu
i
,
C
ij
cosu
i
u
j
and S
ij
sinu
i
u
j
, ;i; j 1; 2.
Combining equations (3) and (4), the forward differential kinematics of the mobile
manipulator is obtained as:
_ x
E
_ y
E
_ x
F
_ y
F
2
6
6
6
6
6
4
3
7
7
7
7
7
5

C
0
2S
0
0 0
S
0
C
0
0 0
0 0 C
0
2S
0
0 0 S
0
C
0
2
6
6
6
6
6
4
3
7
7
7
7
7
5
r
2
2
r
2b
J
11
r
2

r
2b
J
11
J
11
J
12
2
r
2b
d J
21

r
2b
d J
21
J
21
J
22
r
2
r
2
0 0
2
dr
2b
dr
2b
0 0
2
6
6
6
6
6
6
6
6
6
6
6
4
3
7
7
7
7
7
7
7
7
7
7
7
5
_
u
R
_
u
L
_
u
1
_
u
2
2
6
6
6
6
6
4
3
7
7
7
7
7
5
: 5
which can be expressed in the following form:
_ x RJ _ z J
z
_ z: 6
And its time derivative as:
x
_
J
z
_ z J
z
z: 7
2.2. Dynamic modeling
The dynamics of a mobile manipulator subject to non-holomonic constraints can be
obtained using the Lagrangian approach in the following form:
Hq q Vq; _ q A
T
ql Eqt: 8
where q q
1
. . .q
n

T
[ R
n1
is the generalized coordinates, Hq [ R
nn
is a
symmetric, positive denite inertia matrix, Vq; _ q [ R
nn
represents the vector of
centripetal and Coriolis forces terms, Aq [ R
mn
is the constraint matrix, l [ R
m1
is the Lagrange multiplier which denotes the vector of constraint forces, Eq [
IJICC
4,1
84
R
nn2m
is the input transformation matrix and t [ R
n2m1
is the vector of input
torques.
It is possible to dene (n 2 m) independent velocities _ z
_
u
R
;
_
u
L
;
_
u
1
;
_
u
2

T
such that:
_ q Sq_ z: 9
where the matrix S(q) is dened as:
Sq
r
2b
bC
0
dS
0

r
2b
bC
0
2dS
0
0 0
r
2b
bS
0
2dC
0

r
2b
bS
0
dC
0
0 0
r
2b
2
r
2b
0 0
0 0 1 0
0 0 0 1
2
6
6
6
6
6
6
6
4
3
7
7
7
7
7
7
7
5
10
Substituting equation (9) and its derivative into equation (8), and left multiplying S
T
,
we obtain:
H
z
q z V
z
q; _ q_ z G
z
t
z
: 11
where H
z
S
T
HS, V
z
S
T
H
_
S; G
z
S
T
V and t
z
S
T
Et.
J
z
is a full rank square matrix, from equations (6) and (7) we get:
_ z J
21
z
_ x: 12
And:
z J
21
z
x 2J
21
z
_
J
z
J
21
z
_ x: 13
Substituting equations (12) and (13) into equation (11) and left multiplying J
21
z
,
we obtain the dynamic of the system in the task space as:
H
x
q x V
x
q; _ q_ x G
x
t
x
: 14
where H
x
J
2T
z
H
z
J
21
z
; V
x
J
2T
z
V
z
2H
z
J
21
z
_
J
z
J
21
z
; G
x
J
2T
z
G
z
and t
x
J
2T
z
t
z
.
The dynamic system equation (14), possess a number of important properties that
facilitate analysis and control system design. Among these are:
.
Property 1. The inertia matrix H
x
(q) is symmetric and positive denite,
i.e. H
T
x
H
x
s 0.
.
Property 2.
_
H
x
22V
x
is skewsymmetric, i.e. hence x
T
H
x
22V
x
x 0; ;x [ R
n
.
Property 3. H
x
, V
x
and G
x
are all bounded as long as J
z
is non-singular.
.
Property 4. System equation (14) is linearly parametertrizable (LP), i.e.
H
x
q _ n V
x
q; _ qn G
x
q Yq; _ q; n; _ nu where Y is called the
n p dynamic regressor matrix, which contains known function
and u is a constant vector of unknown parameters.
Adaptive
tracking control
85
3. Adaptive controller design
Suppose that the desired trajectories in task space are described by x
d
and _ x
d
. In order to
track the desired trajectories, we have to design a passivity based controller given by
Spong (2005):
t
x
H
x
_ n V
x
n G
x
2Kr: 15
where n and r are given as:
e x 2x
d
v _ x
d
2Le
r _ x 2v
: 16
With L and K are a diagonal matrices of positive gains.
Substituting equations (15) and (16) into equation (14) yields:
H
x
_ r V
x
r Kr 0: 17
The closed loop system equation (17) is non-linear and coupled. Consider the Lyapunov
function:
V
1
2
r
T
H
x
r e
T
LKe: 18
The time derivative of V can be computed as:
_
V 2_ e
T
K_ e 2e
T
LKLe # 0: 19
It is obvious that errors will asymptotically converge to zero if the dynamics of the
system are known exactly. On the other hand, the existence of disturbances and
uncertainties inuences the performance of the passivity based controller and make the
closed loop systemunstable. To handle imperfect knowledge of the mobile manipulator
parameters and external disturbances, the passivity based controller equation (15) is
modied as:
t
x

^
H
x
_ v
^
V
x
v
^
G
x
2Kr: 20
where
^
H
x
,
^
V
x
and
^
G
x
are estimate of unknown parameters
^
H,
^
V and
^
G.
According to property equation (4), we can rewrite equation (20) as:
t
x
Yq; _ q; v; _ v
^
u 2Kr: 21
Where
^
u is estimates of unknown constant parametric vector u. Substituting equation
(21) into (14), we may have the closed-loop error dynamics:
H
x
_ r V
x
r Kr Yq; _ q; v; _ v
~
u: 22
Where
~
u
^
u 2u. If an appropriate adaptive update law for
^
u can be selected, we may
easily to prove the convergence of the tracking errors to zero and the system stability.
IJICC
4,1
86
Let us dene a Lyapunov function candidate as:
V
1
2
r
T
H
x
r e
T
L
T
Ke
1
2
~
u
T
G
~
u: 23
Where G is a positive constant design matrix. The time derivative of V can be
computed as:
_
V r
T
H
x
_ r
1
2
_
H
x
r 2e
T
L
T
Ke
_
~
u
T
G
~
u: 24
Substituting the closed-loop error dynamics equation (22) in the above equation, we get:
_
V r
T
Yq; _ q; v; _ v
~
u 2Kr 2r
_
H
x
22V
x
2e
T
L
T
Ke
_
~
u
T
G
~
u: 25
Since
_
H
x
22V
x
is a skrew symmetric, the above equation become:
_
V 2_ e
T
K_ e 2e
T
L
T
KLe
~
ur
T
Yq; _ q; v; _ v
_
~
u
T
G: 26
With selected update law as:
_
^
u 2G
2T
Y
T
q; _ q; v; _ v r: 27
The time derivative of the Lyapunov function is negative
_
V # 0 and the system is
asymptotically stable.
The proposed adaptive control system is shown in Figure 2.
4. Simulation results
To verify the effectiveness of the proposed adaptive robust control, let us consider the
mobile manipulator system shown in Figure 1. Simulation parameters are shown in
Table I.
Figure 2.
Structure of the
proposed controller
Forward
kinematics
Forward
kinematics
Mobile
manipulator
Adaptive
tracking control
87
The initial conditions are given as follow:
q0
0; 0;
p
2
; 0; 0;
p
4
; 2
p
2
h i
T
and _ z0
0; 0; 0; 0
h i
T
Let the desired trajectory be:
x
d
t
x
d
E
; y
d
E
; x
d
F
; y
d
F
h i
T

0:2t 0:3; 0:5 0:25 sin0:2pt; 0:2t; 0

h i
T
It consists of a sinusoidal path for the end-effector and a straight line for the mobile
platform.
We assume the disturbances as: t
d
t 0:5 sint; 0:5 cost; 1:5 sint;
1:5 cost
T
.
The control gains used in proposed adaptive tracking controller were selected as:
G 2I
88
, L 2I
44
and K 100I
44
.
In order to validate the better performance of the proposed control, in the same
conditions, we compare:
.
the passive based controller; and
.
the proposed adaptive control.
The tracking performances of each control scheme are shown in Figures 3-8,
respectively. From the comparison of both controls, it can be seen that the tracking
results of the passive based controller are not satisfactory and the tracking errors
uctuate greatly in comparison with the adaptive robust control schemes which attain
good control performance, and the tracking error is much small because of adaptive
mechanism. The simulation result thus veries the effectiveness of the proposed
control in the presence of external disturbances.
Parameters (Units) Platform Manipulator
Dimension (m) b 0.182
r 0.0508
d 0.1
L
1
0.514
L
2
0.362
Mass (kg) m
c
17.25
m
w
0.159
m
1
2.56
m
2
1.07
Inertia (kg m
2
) I
c
0.297
I
w
0.0002
I
1
0.148
I
2
0.0228
Table I.
Parameters of the mobile
manipulator
Figure 3.
Trajectory tracking with
passivity based controller
0.5
0.5
0
0.5
1
0.5 1.5 2.5 3.5 0 1 2 3 4 4.5
IJICC
4,1
88
Figure 5.
Trajectory tracking errors
for the platform with
passivity based controller
0.25
0.2
0.15
0.1
0.05
0
0.05
0.1
0.15
0.2
0.25
0 2 4 6 8 10
Time (sec)
X-axis
Y-axis
T
r
a
j
e
c
t
o
r
y

t
r
a
k
i
n
g

e
r
r
o
r
s

f
o
r

t
h
e

p
l
a
t
f
r
o
m

(
m
)
12 14 16 18 20
Figure 4.
Trajectory tracking errors
for the end-effector with
passivity based controller
0.25
0.2
0.15
0.1
0.05
0
0.05
0.1
0.15
0.2
0.25
0 2 4 6 8 10
Time (sec)
X-axis
Y-axis
T
r
a
j
e
c
t
o
r
y

t
r
a
k
i
n
g

e
r
r
o
r
s

f
o
r

t
h
e

e
n
d

e
f
f
e
c
t
o
r

(
m
)
12 14 16 18 20
Figure 6.
Trajectory tracking with
adaptive based controller
0.5
0.5
0
0.5
1
0.5 1.5 2.5 3.5 0 1 2 3 4 4.5
Adaptive
tracking control
89
5. Conclusion
Inthis paper, a robust adaptive controller for mobile manipulator systeminthe presence of
parametric uncertainties and external disturbances is proposed. The proposed control
strategy was designed to drive simultaneously in task space desired end-effector and
platform trajectories without violating the non-holonomic constraints. The unknown
parameters and the external disturbances are estimated by using update law in adaptive
control scheme. The effectiveness of the proposed controller is veried both analytically
and in simulation. Future work will concentrate on the implementation of the proposed
controller on a real mobile manipulator system and an adaptive controller which
integrates the motion and the force should also be investigated.
Figure 7.
Trajectory tracking errors
for the end-effector with
adaptive based controller
0.25
0.2
0.15
0.1
0.05
0
0.05
0.1
0.15
0.2
0.25
0 2 4 6 8 10
Time (sec)
X-axis
Y-axis
T
r
a
j
e
c
t
o
r
y

t
r
a
k
i
n
g

e
r
r
o
r
s

f
o
r

t
h
e

e
n
d

e
f
f
e
c
t
o
r

(
m
)
12 14 16 18 20
Figure 8.
Trajectory tracking errors
for the platform with
adaptive based controller
0.25
0.2
0.15
0.1
0.05
0
0.05
0.1
0.15
0.2
0.25
0 2 4 6 8 10
Time (sec)
X-axis
Y-axis
T
r
a
j
e
c
t
o
r
y

t
r
a
k
i
n
g

e
r
r
o
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About the authors
Mohamad Boukattaya received an Electromechanical Engineering Diploma from
the Sfax Engineering School, Tunisia, in 2002. From the same school in 2006 he
received a Masters degree in Automatic and Industrial Informatics. He is currently
a Researcher at the Control of Industrial Process Unit at the same school. His
research interests include robot control and simulation, especially in mobile
manipulators, mobile robotics, andredundant systems. MohamadBoukattayais the
corresponding author and can be contacted at: mohamed.boukattaya@gmail.com
Adaptive
tracking control
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Tarak Damak received an Electrical Engineering Diploma from the Sfax
Engineering School, Tunisia, in 1989, a DEA degree in Automatic control from
the Institut National des Sciences Appliquees de Toulouse-France in 1990, and a
PhD from the Universite Paul Sabatier de Toulouse-France in 1994. In 2006, he
obtained the University Habilitation from the Sfax Engineering School. His
current research interests are in the elds of distributed parameter systems,
sliding mode control and observers, and adaptive non-linear control.
Mohamed Jallouli received a DEA degree in Automatics from University of
Valenciennes, France in 1986 and a PhD in Robotics Engineering from
University Paris XII, France, in 1991. He is currently an Assistant Professor of
Electric and Computer Engineering at Sfax Engineering School. His current
interests include the implementation of intelligent methods in robotic and vision
system as well as in multisensory data fusion mobile bases.
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