Output feedback tracking control for nonholonomic wheeled mobile manipulator systems with full-output constraints

An output feedback trajectory tracking control scheme for nonholonomic mobile manipulator robot systems with full-output constraints is presented in this article. Different from the previous methods, the kinematic model of the system is transformed into a special chained form by a rotation-like matrix. A globally exponentially stable speed observer with generalized dynamic scaling function is constructed to obtain the velocity estimation of the system. The output feedback tracking constrained controller is successfully constructed by Barrier Lyapunov function, backstepping and the excellent observer, which considering the system dynamics and the full-output constraints is achieved with only measurable outputs.