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This paper focuses on the problem of modeling and finite-time tracking control for mobile manipulators with affine and holonomic constraints.A reduced dynamic model is obtained by appropriately processing affine and holonomic constraints,respectively.Then finite-time tracking controllers are designed to ensure that output tracking errors of closed-loop system converge to zero in finite time while the constraint force remains bounded.Finally,detailed simulation results are provided to confirm the effectiveness of the control strategy.
This paper focuses on the problem of modeling and finite-time tracking control for mobile manipulators with affine and holonomic constraints. A reduced dynamic model is obtained by appropriately processing affine and holonomic constraints, respectively. Finite finite-time tracking controllers are designed to ensure that output tracking errors of closed-loop system converge to zero in finite time while the constraint force remains bounded. Finally, detailed simulation results are provided to confirm the effectiveness of the control strategy.