Title: Comparison of control schemes for path tracking of mobile manipulators

Authors: Paulo Leica; Oscar Camacho; Sebastián Lozada; Robert Guamán; Danilo Chávez; Víctor H. Andaluz

Addresses: Departamento de Automatización y Control Industrial, Escuela Politécnica Nacional, Quito, Ecuador ' Departamento de Automatización y Control Industrial, Escuela Politécnica Nacional, Quito, Ecuador; Universidad de los Andes, Mérida, Venezuela ' Departamento de Automatización y Control Industrial, Escuela Politécnica Nacional, Quito, Ecuador ' Departamento de Automatización y Control Industrial, Escuela Politécnica Nacional, Quito, Ecuador ' Departamento de Automatización y Control Industrial, Escuela Politécnica Nacional, Quito, Ecuador ' Departamento de Eléctrica y Electrónica, Universidad de Las Fuerzas Armadas-ESPE, Latacunga, Ecuador

Abstract: The objective of this paper is focused on solving the trajectory tracking problem of mobile manipulators using three different control strategies, they are: 1) minimum norm PID controller; 2) controller based on linear algebra; 3) sliding mode controller. The controllers are designed from the kinematic model, but they are tested by simulations in a kinematic model and also in a dynamic model to see their performance and robustness. The integral of the absolute value of the error (IAE) performance index is used to check the performance. Stability and errors convergence to zero for all controllers are also considered.

Keywords: mobile manipulator; tracking; path; sliding mode control; SMC; Euler.

DOI: 10.1504/IJMIC.2017.085300

International Journal of Modelling, Identification and Control, 2017 Vol.28 No.1, pp.86 - 96

Received: 06 Apr 2016
Accepted: 05 Sep 2016
Published online: 21 Jul 2017 *

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