Comparative study of tracking control for a mobile manipulator: Nonholonomic and dynamic cases

Jae H. Chung, Daehie Hong

Research output: Contribution to journalArticlepeer-review


This paper gives an in-depth treatment of the modeling and control of a mobile manipulator which consists of a robotic manipulator mounted upon a mobile robot. By neglecting slip of the platform's tires, nonholonomic constraints are introduced into the equations of motion. By considering wheel slip, the assumption of nonholonomic motion is violated. Nonholonomic and dynamic models of a mobile manipulator are developed and compared using the Lagrange -d'Alembert formulation and the Newton-Euler method, respectively. The dynamic model which considers wheel slip incorporates a nonlinear tire friction model. The tracking problem is investigated by using input-output linearization for the nonholonomic model. For the dynamic model, a robust control method based on a matching condition is developed to eliminate the harmful effects of wheel slip, which acts as a disturbance to the system. Then, the effect of wheel slip on the tracking of commanded motion is identified via simulation. The effectiveness of the proposed control algorithm is demonstrated through computer simulation.

Original languageEnglish
Pages (from-to)585-595
Number of pages11
JournalKSME International Journal
Issue number9
Publication statusPublished - 1999 Sept

Bibliographical note

Copyright 2018 Elsevier B.V., All rights reserved.


  • Mobile manipulator
  • Non-holonomic constraint
  • Tracking control

ASJC Scopus subject areas

  • Mechanical Engineering


Dive into the research topics of 'Comparative study of tracking control for a mobile manipulator: Nonholonomic and dynamic cases'. Together they form a unique fingerprint.

Cite this