Title: Adaptive and sliding mode control of a mobile manipulator actuated by DC motors

Authors: Amal Karray; Moez Feki

Addresses: Energy Management Laboratory (CEMLab), Sfax Engineering School, University of Sfax, BP 1073, 3038 Sfax, Tunisia ' Energy Management Laboratory (CEMLab), Sfax Engineering School, University of Sfax, BP 1073, 3038 Sfax, Tunisia

Abstract: This paper deals with a dynamic feedback control design to achieve the trajectory tracking control of non-holonomic mobile manipulator actuated by DC motors with uncertain parameters and bounded external disturbances. The design is based on a backstepping technique, we first, consider the velocity as virtual controller to be designed for the kinematic steering system and next the torque controller is computed such that the mobile manipulator velocity converges to the desired virtual velocity controller. To overcome the unknown perturbation effects and the parameters uncertainties, an adaptive estimator is used. Next, a sliding mode control scheme is designed to control DC motors that are used to provide the necessary torques. Simulation results are given to demonstrate the robustness of the proposed scheme.

Keywords: mobile manipulators; adaptive control; sliding mode control; SMC; DC motors; actuators; mobile robots; robot control; dynamic control; feedback control; trajectory tracking; tracking control; non-holonomic robots; backstepping control; kinematic steering; torque control; velocity control.

DOI: 10.1504/IJAAC.2014.063363

International Journal of Automation and Control, 2014 Vol.8 No.2, pp.173 - 190

Received: 03 Oct 2013
Accepted: 29 Mar 2014

Published online: 30 Jul 2014 *

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