@ARTICLE{Galicki_Mirosław_Trajectory_2021, author={Galicki, Mirosław}, volume={69}, number={5}, journal={Bulletin of the Polish Academy of Sciences Technical Sciences}, pages={e137943}, howpublished={online}, year={2021}, abstract={This paper considers the problem of the accurate task space finite-time control susceptible to both undesirable disturbance forces exerted on the end-effector and unknown friction forces coming from joints directly driven by the actuators as well as unstructured forces resulting from the kinematic singularities appearing on the mechanism trajectory. We obtain a class of estimated extended transposed Jacobian controllers which seem to successfully counteract the external disturbance forces on the basis of a suitably defined task-space non-singular terminal sliding manifold (TSM) and the Lyapunov stability theory. Moreover, in order to overcome (or to minimise) the undesirable chattering effects, the proposed robust control law involves the second-order sliding technique. The numerical simulations (closely related to an experiment) ran for a mobile manipulator consisting of a non-holononic platform of (2;0) type and a holonomic manipulator of two revolute kinematic pairs show the performance of the proposed controllers and make a comparison with other well-known control schemes.}, type={Article}, title={Trajectory tracking control of a mobile manipulator with an external force compensation}, URL={http://journals.pan.pl/Content/120377/PDF/21_02130_Bpast.No.69(5)_drukM.pdf}, doi={10.24425/bpasts.2021.137943}, keywords={non-holonomic mobile manipulator, unstructured external forces, trajectory tracking, robust task space control, Lyapunov stability}, }