Ahmad, UsmanUsmanAhmadPan, Ya-JunYa-JunPanDr. SHEN HenghuaLiu, StevenStevenLiu2026-09-112026-09-112018Ahmad, U., Pan, Y. J., Shen, H., & Liu, S. (2018). Cooperative control of mobile manipulators transporting an object based on an adaptive backstepping approach. In IEEE (Ed.). The proceedings of 2018 IEEE 14th international conference on control and automation (ICCA). 2018 IEEE 14th International Conference on Control and Automation (ICCA), Anchorage, AK, USA (pp. 198-203). IEEE.9781538660898978153866088197815386609041948-3457http://hdl.handle.net/20.500.11861/29405This paper proposes a new adaptive backstepping control scheme for the cooperative control of two mobile manipulators to transport a common object which is rigidly attached to their end-effectors. The key idea is to provide simultaneous control of the mobile base and the end-effector. A two-stage controller is proposed where kinematic backstepping is applied to control the velocity of the mobile platform and adaptive torque control is designed for the end-effector motion tracking. Model parameters are assumed to be completely unknown and are estimated using the adaptive law. Damped Least Squares (DLS) method is used to update the model parameters. The simulation results for two mobile manipulators validate the effectiveness of the proposed controller.enAdaptive BacksteppingMobile ManipulatorBackstepping ApproachControl Of Mobile ManipulatorsAdaptive Backstepping ApproachSimulation ResultsAdaptive ControlMobile PlatformTorque ControlBackstepping ControlAdaptive Backstepping ControlOptimal ControlControl DesignNonlinear DynamicsDerivative Of FunctionRobust ControlPositive Definite MatrixDefinite MatrixLyapunov FunctionKinematic ControlNonholonomic ConstraintsKinematic ChainEnd-Effector PositionObstacle AvoidanceCoordination ControlTracking ErrorTracking ControlCentripetalMobile System Metrics Back to Results Contact IEEE to Subscribe More Like This Three-Wheeled Mobile Robot Trajectory Tracking Control Using Nonlinear PID Controller Based Neural Network Combined With Backstepping Controller IEEE Access Published: 2025 Continuous Robust Trajectory Tracking Control for Autonomous Ground Vehicles Considering Lateral and Longitudinal Kinematics and Dynamics via Recursive Backstepping 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Published: 2021Conference Paper10.1109/ICCA.2018.8444353