Robust position/force control of nonholonomic mobile manipulator forconstrained motion on surface in task space

In this paper, a robust controller is developed for mobile manipulator (MM) to track reference position/force trajectories. Nonholonomic and holonomic constraints are considered the platform manipulator, respectively. Additionally, control design considers uncertainties in parameters of dynamics with bounded time varying additive disturbance (unmodelled effects, external disturbances). A Lyapunov-based stability analysis used prove semiglobal uniform ultimate boundedness tracking error signals system an arbitrarily small neighborhood Numerical results which formed from differential drive 2 DOF Revolute-Revolute (RR) show that position end-effector applied force desired trajectories,