Secil, Gulin ElibolObuz, SerhatParlaktuna, Osman2025-03-172025-03-1720242195-268X2195-2698https://doi.org/10.1007/s40435-024-01417-4https://hdl.handle.net/20.500.13099/2274This paper presents the design of a novel continuous robust controller for a nonholonomic mobile manipulator in the task space. The main objective of the designed controller is to compensate for the disturbance caused by an unknown time-varying input delay, while the end-effector of the manipulator accurately tracks the reference position trajectory. Notably, the designed robust controller is model-independent; thus, it does not rely on the nominal values of dynamic parameters. Moreover, the control development considers the uncertainties in the parameters of the mobile manipulator dynamics via an unknown time-varying additive disturbance in the dynamics. To guarantee the uniformly ultimate boundedness of the tracking error, the paper utilizes a novel Lyapunov-based stability analysis incorporating Lyapunov-Krasovskii functionals. The effectiveness of the designed controller for a mobile manipulator, composed of a differential drive mobile platform and a two-degree-of-freedom robot manipulator, has been confirmed via simulation results.eninfo:eu-repo/semantics/closedAccessNonholonomic mobile manipulatorInput-delayed systemUnknown time-varying delayPosition trackingRobust controllerPosition control of input-delayed mobile manipulatorArticle10.1007/s40435-024-01417-412932893307N/AWOS:0012060395000012-s2.0-85191097813Q2