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

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