Coordinated Motion Control of a Mobile Base with an Arm

Navigation and control of autonomous systems are currently being investigated for MARS greenhouse applications where these autonomous systems should be capable of navigating in the MARS greenhouse, perform tasks such as farming, harvesting, and so on. Demonstration of such an autonomous system is contingent upon developing novel coordinated control methodologies. A neural network (NN) controller is introduced for the coordinated motion of the base and the arm using adaptive feedback linearization. Using this adaptive NN controller the uniform ultimate boundedness of the closed-loop signals is presented and that the controller achieves tracking. The issue of maintaining a desired course and speed as the onboard arm moves to its desired position is considered. Simulation results are presented in order to justify the theoretical conclusions.