Nonlinear predictive control for trajectory tracking of a mobile manipulator

This manuscript discusses the mathematical modeling of a serial manipulator connetcted byrotary joints and fixed on a non-holonomic wheeled moving base. The equations of motion ofthe system are obtained in a closed form using the Gibbs-Appell formulation. Then, newkinematics and dynamics based multivariable controllers are presented by using the predictivecontrol approach. The control laws are derived by minimizing a quadratic cost function for thepredicted tracking errors of the mentioned system. Finally, the performance of the suggestedcontroller is presented by simulating a mobile manipulator in simultaneous trajectory trackingof the mobile base and end-effector.