ABSTRACT
Mobile under-actuated manipulators are different from under-actuated ma-
nipulators, due to simultaneously integrating both kinematic constraints and
dynamic constraints. Moreover, they are also more complex than the mobile
inverted pendulums [31] or pendulums [32] whose dynamic balances in the ver-
tical plane are achieved due to the existent gravity. The under-actuated joints
of mobile under-actuated manipulators may appear anywhere in the manipu-
lators. For these reasons, increasing effort needs to be made towards control
design that guarantees stability and robustness for mobile under-actuated ma-
nipulators. These systems are intrinsically nonlinear and their dynamics can
be described by nonlinear differential equations.
