Abstract: Aiming at the trajectory tracking problem of a fourwheel twolink nonholonomic mobile manipulator, a control strategy combining adaptive fuzzy control and sliding mode control was proposed. Firstly, a dynamic control model including uncertainties of unknown dynamic model and external disturbances was established, and then the controller was designed based on the backstepping.Fuzzy control was used to approximate the unknown timevarying global uncertainties of the system, and adaptive mechanism was used to dynamically optimize the control parameters of the fuzzy system. Further, the exponential reaching law sliding mode control was used to eliminate the influence of the fuzzy approximation error. The results indicate that the controller can effectively compensate the overall system uncertainties, and the good trajectory tracking performance of the mobile manipulator in complex uncertain environment is guaranteed.
Key words: wheeled mobile manipulators; nonholonomic systems; adaptive fuzzy control; sliding mode control; uncertain systems