Trajectory Tracking Control of Heterogenous UGV-MMS system

A new control strategy is presented for trajectory tracking of heterogeneous Unmanned Ground Vehicle (UGV)-Mobile Manipulators (MMS) system in this paper. The heterogenous UGV-MMS system is comprised of the UGV and the MMS. The main innovation of this paper is that the situation that the manipulator compensates the dynamic interactions produced by the UGV is considered, while the UGV doesn't compensate the dynamic interactions produced by the manipulator. In this situation, we do low calculation and the tracking precision is excellent. Firstly, a kinematic and dynamic controller is designed for the UGV to ensure the UGV to track the desired trajectory. Secondly, a control law based on the sliding mode control is designed for the manipulator to track the desired trajectory. Finally, the Lyapunov function approach and the simualtion results in MATLAB are used to demonstrate the effectiveness and feasibility of the proposed control approach of both the UGV and the manipulator.