Sliding mode variable structure control of mobile manipulators
by Weimin Ge, Duofang Ye
International Journal of Modelling, Identification and Control (IJMIC), Vol. 12, No. 1/2, 2011

Abstract: For the extreme non-linear and strong coupling characteristics of mobile manipulators, and based on the theory of sliding mode variable structure control, this paper proposes a control approach of mobile manipulators. The entire control system is composed of two parts, including the sliding mode trajectory tracking control of the mobile platform and the non-singular terminal sliding mode control of the manipulator. The simulation results show the effectiveness of the presented approach.

Online publication date: Sat, 21-Mar-2015

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Modelling, Identification and Control (IJMIC):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?


Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com