Sliding Mode Variable Structure Control of Mobile Manipulators

摘要：

For the extreme nonlinear 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.

关键词： mobile manipulator sliding mode variable structure control trajectory tracking underactuated manipulator.

作者: Weimin Ge Duofang Ye

作者单位: School of Mechanical Engineering,Tianjin University of Technology,Tianjin,China

会议类型: 国际会议

会议名称: International Conference on Modelling,Identification and Control(模拟、鉴定、控制国际会议)

会议地点: 上海

会议语种:英文

在线出版日期: 2008-06-29（万方平台首次上网日期，不代表论文的发表时间）