In this study, an adaptive tracking control scheme with output constraints is proposed for wheeled mobile manipulators. Firstly, a backstepping controller utilizing a time-varying barrier Lyapunov function is proposed to limit the tracking error within prescribed bounds. Further, a radial basis function neural network is employed to compensate for dynamic uncertainties and external disturbances.
- [WMM system](# WMM system)
- [Adaptive controller](# Adaptive controller)
- [Simulink](# Simulink)
- [Plot results](# Plot results)
The dynamic matrices of the WMM system are located in sys.m, which is a s-function.
The adaptive controller of the WMM system is located in controller.m, which is a s-function.
We used Simulink to connect two parts sys.m and controller.m in chap4_2sim.mdl.
You can use plot_result.m to plot the tracking results after running simulation.