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		题名	作者	年代	出处	被引量
	1	Robust Adaptive Control for Mobile Manipulators显示文摘This paper addresses the trajectory tracking control of a nonholonomic wheeled mobile manipulator with parameter uncertainties and disturbances. The proposed algorithm adopts a robust adaptive control strategy where parametric uncertainties are compensated by adaptive update techniques and the disturbances are suppressed. A kinematic controller is first designed to make the robot follow a desired end-effector and platform trajectories in task space coordinates simultaneously. Then, an adaptive control scheme is proposed, which ensures that the trajectories are accurately tracked even in the presence of external disturbances and uncertainties. The system stability and the convergence of tracking errors to zero are rigorously proven using Lyapunov theory. Simulations results are given to illustrate the effectiveness of the proposed robust adaptive control law in comparison with a sliding mode controller.	Mohamed Boukattaya Tarak Damak Mohamed Jallouli	2011	International Journal of Automation and computing2011，8，1：	4
	2	On trajectory tracking control for nonholonomic mobile manipulators with dynamic uncertainties and external torque disturbances显示文摘	Mohamed Boukattaya Mohamed Jallouli Tarak Damak	2012	Robotics and Autonomous Systems2012，，12：	1

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