Dynamical adaptive sliding mode output tracking control of mobile manipulators

The output tracking control problem of the general mobile manipulators including motor dynamics with unknown parameter is studied. A dynamical adaptive sliding mode controller is devised to achieve output tracking of mobile manipulators from a backstepping perspective. The reduced dynamic model including motor dynamics is developed for mobile manipulators; the system is then decoupled by applying input-output linearization and nonlinear input transformation to the reduced model. The design of the dynamical adaptive sliding mode controller is also addressed for the output tracking of mobile manipulators. The results of numerical simulation verify that the dynamical adaptive sliding mode controller can not only track the given trajectory but also considerably reduce the chattering of sliding mode control systems.

[1]  Ahmad Ghasempoor,et al.  A measure of machine stability for moving base manipulators , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[2]  Giorgio Bartolini,et al.  A survey of applications of second-order sliding mode control to mechanical systems , 2003 .

[3]  Xiaoping Yun,et al.  Effect of the dynamic interaction on coordinated control of mobile manipulators , 1996, IEEE Trans. Robotics Autom..

[4]  Y. M. Hu,et al.  HIGH-ORDER SLIDING MODE CONTROL OF NONLINEAR CONTROL SYSTEMS WITH APPLICATION TO MOBILE ROBOTS , 2000 .

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

[6]  Yueming Hu,et al.  Kinematics, Dynamics and Motion Planning of Wheeled Mobile Manipulators , 2004 .

[7]  Arie Levant,et al.  Higher-order sliding modes, differentiation and output-feedback control , 2003 .

[8]  Waguih ElMaraghy,et al.  Robust adaptive control of a robotic manipulator including motor dynamics , 1998 .

[9]  Yangsheng Xu,et al.  On tracking control of mobile manipulators , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[10]  H. Sira-Ramírez.  On the dynamical sliding mode control of nonlinear systems , 1993 .

[11]  Xiaoping Yun,et al.  Coordinating locomotion and manipulation of a mobile manipulator , 1992, [1992] Proceedings of the 31st IEEE Conference on Decision and Control.

[12]  Wenjie Dong,et al.  On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty , 2002, Autom..

[13]  M. Thoma,et al.  Variable Structure Systems, Sliding Mode and Nonlinear Control , 1999 .

[14]  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.