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As the manipulator arm is mounted over the mobile robot base, the controller has the additional task of taking care of the disturbances of the mobile robot due to the dynamic interactions between the mobile robot base and manipulator arm. In the present work, dynamic models for the manipulator arm and an omni-wheeled mobile robot base were developed separately and then both were combined. Two control strategies, namely only manipulator arm control (OMAC) and simultaneous manipulator and base control (SMBC) were developed for the effective control of tip trajectory. In both strategies, an amnesia recovery coupled with classical proportional integral and derivative (PID) control was used. The bond graph methodology was used for the development of the dynamic model and control for the mobile manipulator. Simulation results are presented to illustrate the efficacy of the two control strategies.<\/jats:p>","DOI":"10.1177\/0037549718784186","type":"journal-article","created":{"date-parts":[[2018,7,4]],"date-time":"2018-07-04T04:28:34Z","timestamp":1530678514000},"page":"529-543","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":13,"title":["Trajectory control of a mobile manipulator in the presence of base disturbance"],"prefix":"10.1177","volume":"95","author":[{"given":"RV","family":"Ram","sequence":"first","affiliation":[{"name":"Indian Institute of Technology Roorkee, Roorkee, Uttarakhand, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"PM","family":"Pathak","sequence":"additional","affiliation":[{"name":"Indian Institute of Technology Roorkee, Roorkee, Uttarakhand, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"SJ","family":"Junco","sequence":"additional","affiliation":[{"name":"Universidad Nacional de Rosario, Rosario, Santa F\u00e9, Argentina"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2018,7,4]]},"reference":[{"key":"bibr1-0037549718784186","first-page":"2643","volume-title":"Proceedings of IEEE International Conference on Decision and Control","author":"Yamamoto Y"},{"key":"bibr2-0037549718784186","doi-asserted-by":"publisher","DOI":"10.1109\/70.538986"},{"key":"bibr3-0037549718784186","doi-asserted-by":"publisher","DOI":"10.1109\/CCA.1994.381271"},{"key":"bibr4-0037549718784186","first-page":"2336","volume-title":"Proceedings of IEEE International Conference","author":"Hootsmans N"},{"key":"bibr5-0037549718784186","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-013-0776-0"},{"key":"bibr6-0037549718784186","doi-asserted-by":"publisher","DOI":"10.1109\/70.313098"},{"key":"bibr7-0037549718784186","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(87)90018-8"},{"key":"bibr8-0037549718784186","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(89)90083-9"},{"key":"bibr9-0037549718784186","first-page":"126","volume":"1","author":"Balakrishna R","year":"1996","journal-title":"IEEE Trans Robot Autom"},{"key":"bibr10-0037549718784186","doi-asserted-by":"publisher","DOI":"10.1007\/s12206-012-0541-1"},{"key":"bibr11-0037549718784186","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008145910986"},{"key":"bibr12-0037549718784186","first-page":"1457","volume-title":"Proceedings of IEEE International conference on Robotics and Biomimetics","author":"Mashali M"},{"key":"bibr13-0037549718784186","volume-title":"Bond Graph in Modeling, Simulation and Fault Identification","author":"Mukharjee A","year":"2005"},{"key":"bibr14-0037549718784186","volume-title":"System Dynamics: Modeling and Simulation of Mechatronic Systems","author":"Karnopp DC","year":"2000","edition":"3"},{"key":"bibr15-0037549718784186","volume-title":"Bond Graphs: A Methodology for Modelling Multidisciplinary Dynamic Systems","author":"Borutzky W.","year":"2004"},{"key":"bibr16-0037549718784186","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4757-3922-0"},{"key":"bibr17-0037549718784186","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-4628-5"},{"key":"bibr18-0037549718784186","first-page":"885","volume":"10","author":"Dalla VK","year":"2015","journal-title":"J Sys Control Eng"},{"key":"bibr19-0037549718784186","doi-asserted-by":"publisher","DOI":"10.1177\/0037549716686404"},{"key":"bibr20-0037549718784186","doi-asserted-by":"publisher","DOI":"10.1115\/1.2098894"},{"key":"bibr21-0037549718784186","volume-title":"Introduction to Robotics: Mechanics and Control","author":"Craig JJ.","year":"2005"},{"key":"bibr22-0037549718784186","volume-title":"Introduction to Robotics","author":"Saha SK.","year":"2014"},{"key":"bibr23-0037549718784186","unstructured":"Mukherjee A. 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