Performance-Guaranteed Trajectory Tracking Control for Mobile Manipulation

This paper presents a trajectory tracking control approach for a mobile manipulator (MM) system comprising a robotic arm mounted on a mobile platform. To address external disturbances and non-inertial interactions between the two subsystems, a composite trajectory tracking control strategy based on finite-time prescribed performance control (FTPPC) is developed. This method ensures precise trajectory tracking despite rapidly varying and bounded uncertainties. An adaptive sliding mode observer (ASMO) is designed to estimate external disturbances and uncertain system dynamics. Using a Lyapunov-based analysis, the proposed scheme guarantees uniform boundedness and uniform ultimate boundedness of the system. Simulation results validate its effectiveness in achieving high-precision tracking and superior transient performance under uncertain conditions.