Journal of Systems Science and Complexity

, Volume 32, Issue 5, pp 1393–1403 | Cite as

Adaptive Tracking Control for Mobile Manipulators with Stochastic Disturbances

  • Wei SunEmail author
  • Jianwei XiaEmail author
  • Yuqiang WuEmail author


This paper investigates adaptive tracking control for mobile manipulators with stochastic disturbances and parametric uncertainties. Based on an appropriate reduced dynamic model and an adaptive law, a controller, which is provided by incorporating stochastic control theory with related adaptive technique, overcomes the problem of over-parametrization. It is shown that the designed state-feedback controllers can guarantee that the mean square of the tracking errors can be made arbitrarily small by choosing suitable design parameters. Simulation studies on the control of 2-DOF mobile manipulator shows the effectiveness of the proposed scheme.


Holonomic and noholonomic constraints mobile manipulators stochastic disturbances tracking control 


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Copyright information

© The Editorial Office of JSSC & Springer-Verlag GmbH Germany 2018

Authors and Affiliations

  1. 1.School of Mathematics ScienceLiaocheng UniversityLiaochengChina
  2. 2.Key laboratory of Measurement and Control of CSE, Ministry of Education, School of AutomationSoutheast UniversityNanjingChina
  3. 3.Institute of AutomationQufu Normal UniversityQufuChina

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