Assumed model feedforward sliding mode control for a wheeled mobile robot with 3-DOF manipulator systems

被引：0
作者：
Seongik Han
Hyunuk Ha
Yudong Zhao
Jangmyung Lee
机构：
[1] Pusan National University,Department of Mechanical Engineering
[2] Pusan National University,Department of Electronic Engineering
来源：
Journal of Mechanical Science and Technology | 2017年 / 31卷
关键词：
Mobile manipulator; Sliding mode control; Assumed model feedforward; Trajectory tracking;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this paper, a three wheeled mobile platform with a 3-DOF manipulator was designed and its dynamic model has been constructed and a Sliding mode control (SMC) with the kinematic control is designed to follow the designed position trajectory for a mobile manipulator. Next, an assumed dynamic model of each system is used to design sliding mode controller in order to replace the modelbased control and adaptive estimation for unknown dynamic parameters. The stability of the proposed control scheme has been proved by Lyapunov theory. The effectiveness and accuracy of the proposed algorithm has been verified by simulations and practical experiments for the developed mobile manipulator system. And the simulation and experimental results have been compared to those of traditional PID algorithm to show the superiority of the proposed algorithm.
引用
收藏
页码：1463 / 1475
页数：12
相关论文
共 14 条
  • [1] Myszkorowski P.(1989)A feedforward sliding mode controller for a robot manipulator Journal of Intelligent and Robotic System 2 43-52
  • [2] Ferrara A.(2015)Design of an integral suboptimal second-order sliding mode controller for the robust motion control of robot manipulators IEEE Trans. Control System Technology 23 2316-2325
  • [3] Incremona G. P.(2015)A supervisory sliding mode control approach for cooperative robotic system of systems IEEE Systems Jour. 9 263-272
  • [4] Incremona G. P.(2009)Adaptive neural sliding mode control of nonholonomic wheeled mobile robots with model uncertainty IEEE Trans. On Control Systems Technology 17 207-214
  • [5] De Felici G.(1997)Tracking control of mobile robots: A case study in backstepping Automatica 33 1393-1399
  • [6] Ferrara A.(2006)Fuzzy supervisory sliding-modeand neural-network control for robotic manipulators IEEE Trans. Industrial Electronics 53 929-940
  • [7] Bassi E.(undefined)undefined undefined undefined undefined-undefined
  • [8] Park B. S.(undefined)undefined undefined undefined undefined-undefined
  • [9] Yoo S.-J.(undefined)undefined undefined undefined undefined-undefined
  • [10] Park J.-B.(undefined)undefined undefined undefined undefined-undefined
12