Robust Following Controller Design of Wheeled Mobile Manipulator

Focusing on the nonholonomy and uncertainty of wheeled mobile manipulators, a robust following controller was presented, the dynamic following controller was designed by using the method of backstepping kinematics into dynamics, and the neural network controllers for the mobile platform and manipulator by the genetic algorithm to search for the neural network's weights. The uncertainty terms were compensated. The robust controller was simulated by using the simulink of Matlab and C MEX-file. The results show that the controller has better robustness.