Journal of South China University of Technology (Natural Science Edition) ›› 2006, Vol. 34 ›› Issue (6): 29-33.

• Electronics, Communication & Automation Technology • Previous Articles     Next Articles

Output Tracking Control of M obile M anipulators Based on Dynamical Sliding-Mode Control

Wu Yu-xiang  Fe Ying  Hu Yue-ming   

  1. College of Automation Science and Engineering,South China Univ.of Tech.,Guangzhou 510640,Guangdong,China
  • Received:2005-06-09 Online:2006-06-25 Published:2006-06-25
  • Contact: 吴玉香(1968-)，女，副教授，主要从事非线性控制、智能控制和机器人控制方面的研究 E-mail:xyuwu@seut.edu.cn
  • About author:吴玉香(1968-)，女，副教授，主要从事非线性控制、智能控制和机器人控制方面的研究
  • Supported by:

    国家自然科学基金资助项目(60374016)

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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