Sliding mode variable structure control of mobile manipulators

被引：16

作者：

Ge, Weimin ^{[1
]}

Ye, Duofang ^{[1
]}

机构：

[1] Tianjin Univ Technol, Sch Mech Engn, Extended Line Hongqi South Rd, Tianjin 300384, Peoples R China

来源：

INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL | 2011年 / 12卷 / 1-2期

关键词：

mobile manipulator; sliding mode variable structure control; trajectory tracking; underactuated manipulator;

D O I：

10.1504/IJMIC.2011.037846

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

For the extreme non-linear and strong coupling characteristics of mobile manipulators, and based on the theory of sliding mode variable structure control, this paper proposes a control approach of mobile manipulators. The entire control system is composed of two parts, including the sliding mode trajectory tracking control of the mobile platform and the non-singular terminal sliding mode control of the manipulator. The simulation results show the effectiveness of the presented approach.

引用

页码：166 / 172

页数：7

共 12 条

[1] Nonholonomic control of a three-DOF planar underactuated manipulator [J].