关键词: 移动机械臂, 动态滑模控制, 跟踪控制, 电机动力学

Abstract:

A dynamical sliding-mode controller is devised to track the output of mobile manipulators.During the in-vestigation,a reduced dynamic model considering the dynamics of the driving motor is first developed for mobile manipulators.Then,the system is decomposed into four lower-dimension subsystems by means of diffeomorphism and nonlinear input transformation.Moreover,a design method of the dynamical sliding-mode controller 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 con-trol systems considerably.

Key words: mobile manipulator, dynamical sliding-mode control, tracking control, motor dynamics