Finite‐time control of mobile manipulators subject to unknown/unstructured external disturbances

A robust finite-time control law is proposed for mobile manipulators with uncertain both kinematic and dynamic equations. Moreover, the following external disturbances are allowed to act on system: unstructured forces exerted end-effector, slip reaction affecting platform wheels, unknown friction coming from joints directly driven by actuators undesirable caused singular configurations. In order cope parametric uncertainties unknown/unstructured disturbances, we first transform original problem whose non-holonomic constraints violated into a steering one in an extended space of generalized coordinates Pfaffian form then introduce task non-singular terminal sliding manifold. Based Lyapunov stability theory, new class estimated transposed Jacobian laws derived which effectively counteract significantly reduce slipping phenomena. second technique involved our eliminate chattering effect. An illustrative example manipulator demonstrates advantages approach. numerical comparisons other representative controllers well-known literature also given.