Sliding mode variable structure control of mobile manipulators
Sliding mode variable structure control of mobile manipulators
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DOI：
10.1504/ijmic.2011.037846
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发表时间：
2011-01
期刊：
影响因子：
--
通讯作者：
W. Ge;Duofang Ye
中科院分区：
文献类型：
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作者：
W. Ge;Duofang Ye
针对移动的机械臂的极端非线性和强耦合特性，基于滑模变结构控制理论，提出了一种移动的机械臂的控制方法。整个控制系统由移动的平台的滑模轨迹跟踪控制和机械手的非奇异终端滑模控制两部分组成。仿真结果表明了该方法的有效性。
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.