Paper Title:
Sliding Mode Control of a Welding Mobile Manipulator
  Abstract

A new sliding mode variable structure controller is proposed. First, aiming at improving the convergence speed, a new nonlinear sliding mode surface is proposed. Then, the initial error speed is designed to make the initial state of the system to be just on the sliding mode surface which is to impair the chattering and improve the robustness of the controller. Finally, a mobile manipulator with two arms is taken as an example to simulate the trajectory tracking with the proposed controller. It is found that system shows high convergence speed and strong robustness against disturbance. The chattering is also impaired greatly.

  Info
Periodical
Advanced Materials Research (Volumes 347-353)
Chapter
Chapter 7: Hydrogen and Fuel Cell
Edited by
Weiguo Pan, Jianxing Ren and Yongguang Li
Pages
3211-3214
DOI
10.4028/www.scientific.net/AMR.347-353.3211
Citation
H. Mei, "Sliding Mode Control of a Welding Mobile Manipulator", Advanced Materials Research, Vols. 347-353, pp. 3211-3214, 2012
Online since
October 2011
Authors
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Price
$32.00
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