Sliding-mode-based adaptive position/force control of mobile manipulator with flexible joints

To solve the positon/force control problem of mobile manipulator with flexible joints, a sliding-mode-based adaptive strategy is given. Firstly, the dynamic model of mobile manipulator considering flexible joints is established .Then by using sliding mode approach, an adaptive controller is designed after decoupling the position and force. The controller has good robustness. It can guarantee the position error converge to zero and the boundedness of the force error. The Lyapunov stability analysis demonstrates the effectiveness of the given strategy. At last, simulation results show the feasibility of the method vividly.

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