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Output tracking control of mobile manipulators based on dynamical sliding-mode control |
| WUYuxiang, FENG Ying, HU Yueming |
| College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, China; |
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Abstract 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.
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Issue Date: 05 March 2007
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