Robust Adaptive Position/Force Control of Multiple Mobile Manipulators with Flexible Joints

To solve the positon/force control problem of multiple mobile manipulators with flexible joints, a robust adaptive strategy is given. Firstly, the dynamic model of multiple mobile manipulators with flexible joints is established considering the grasped objects. Then by using position/force error terms, a sliding mode adaptive controller is designed by decoupling the position and force. The controller have good robustness. It can guarantee the position error and force error converge to zero. The Lyapunov stability analysis demonstrates the effectiveness of the given strategy. At last, simulation results show the feasibility of the method vividly.