Sliding mode control for trajectory tracking on mobile manipulators

This paper proposes a sliding mode control approach for a wheeled mobile manipulator. The wheeled mobile manipulator composed of a four-wheeled mobile platform and a three-degree of freedom onboard manipulator. The dynamic models are established and the sliding mode control methods are employed. The entire control system is decomposed into two subsystems, including the sliding mode control of the mobile platform and the non-singular terminal sliding mode control of the manipulator. The simulation results are shown at last and demonstrate the effectiveness of the presented algorithm.

[1]  S. Shankar Sastry,et al.  A mathematical introduction to robotics manipulation , 1994 .

[2]  S. Ge,et al.  Robust motion/force control of uncertain holonomic/nonholonomic mechanical systems , 2004, IEEE/ASME Transactions on Mechatronics.

[3]  Ju-Jang Lee,et al.  Motion control of mobile manipulator based on neural networks and error compensation , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[4]  Peng-Yung Woo,et al.  Fuzzy supervisory sliding-mode and neural-network control for robotic manipulators , 2006, IEEE Transactions on Industrial Electronics.

[5]  Fumio Miyazaki,et al.  A stable tracking control method for an autonomous mobile robot , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[6]  Andrew A. Goldenberg,et al.  Robust damping control of mobile manipulators , 2002, IEEE Trans. Syst. Man Cybern. Part B.