Output tracking control of mobile manipulators based on dynamical sliding-mode control

2007年第2卷第1期

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《机械工程前沿（英文）》 >> 2007年第2卷第1期 doi: 10.1007/s11465-007-0019-5

Output tracking control of mobile manipulators based on dynamical sliding-mode control

College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, China;

发布日期： 2007-03-05

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摘要

A dynamical sliding-mode controller is devised to track the output of mobile manipulators. During the investigation, firstly a reduced dynamic model considering the dynamics of the driving motor is developed for mobile manipulators. Then, the system is decomposed into four lower-dimensional subsystems by means of diffeomorphism and nonlinear input transformation. Moreover, a design method of the dynamical sliding-mode controller that is applied to the output tracking of mobile manipulators is proposed. The simulation results indicate that the dynamical sliding-mode controller can not only track the given trajectory correctly but also reduce the chattering of sliding-mode control system considerably.

关键词

lower-dimensional ; nonlinear ; trajectory ; tracking ; diffeomorphism