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&subtitle=This article focuses on the trajectory tracking problem of mobile manipulators (MMs). Firstly%2C 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%2C joint velocity%2C and joint acceleration. Moreover%2C it can achieve synchronous control for the position and orientation of the end-effector. Secondly%2C a finite-time convergent neural dynamics (FTCND) model is constructed to find the optimal solution of the POMPTC scheme. Then%2C based on the proposed POMPTC scheme%2C a non-singular fast terminal sliding model (NFTSM) control method is presented%2C 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%2C simulation and experiments show that the proposed control method has the advantages of strong robustness%2C fast convergence%2C and high control accuracy.?quality=80&w=800)
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