Title: Sliding mode variable structure control of mobile manipulators

Authors: Weimin Ge, Duofang Ye

Addresses: School of Mechanical Engineering, Tianjin University of Technology, The Extended Line of Hongqi South Road, Tianjin, 300384, China. ' School of Mechanical Engineering, Tianjin University of Technology, The Extended Line of Hongqi South Road, Tianjin, 300384, China

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.

Keywords: mobile manipulators; mobile robots; sliding mode control; variable structure control; trajectory tracking; underactuated manipulators; manipulator control; robot control; trajectory tracking; tracking control; simulation.

DOI: 10.1504/IJMIC.2011.037846

International Journal of Modelling, Identification and Control, 2011 Vol.12 No.1/2, pp.166 - 172

Published online: 31 Dec 2010 *

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