  This article focuses on the trajectory tracking problem of mobile
manipulators (MMs). Firstly, we construct a position and orientation model
predictive tracking control (POMPTC) scheme for mobile manipulators. The
proposed POMPTC scheme can simultaneously minimize the tracking error, joint
velocity, and joint acceleration. Moreover, it can achieve synchronous control
for the position and orientation of the end-effector. Secondly, a finite-time
convergent neural dynamics (FTCND) model is constructed to find the optimal
solution of the POMPTC scheme. Then, based on the proposed POMPTC scheme, a
non-singular fast terminal sliding model (NFTSM) control method is presented,
which considers the disturbances caused by the base motion on the manipulator
at the dynamic level. It can achieve finite-time tracking performance and
improve the anti-disturbances ability. Finally, simulation and experiments show
that the proposed control method has the advantages of strong robustness, fast
convergence, and high control accuracy.
