Main topic of the paper is a problem of designing the input-output decoupling controllers for nonholonomic mobile manipulators. We propose a selection of output functions in much more general form than in [1,2]. Regularity conditions guaranteeing the existence of the input-output decoupling control law are presented. Theoretical considerations are illustrated with simulations for mobile manipulator consisting of RTR robotic arm mounted atop of a unicycle which moves in 3D-space.

This work presents the results acquired during simulation studies done for a 3D free-floating satellite behaviour with input-output decoupling approach. The research object is a free-floating satellite with a 3 DoF rigid 3D manipulator where a noise disturbance was introduced. Different approaches are used to compensate the noise influence. Systems using a visual aid to determine the position of manipulator joints are not ideal and introduce some uncertainties. What is more, determining the position from joints encoders is not error-free while computing angular velocity from numerical differentiation introduces even greater disturbance to the system. A couple of scenarios were investigated where state of the manipulator, including its position and velocity, was disturbed with homogeneous noise. Also the control inputs of the manipulator were disturbed. Simulation results show that the biggest impact on the control quality has a scenario where the satellite’s state has been disturbed with additive noise.