Paper Title:
Dynamical Sliding Mode Control of Mobile Manipulators
  Abstract

A solution to the problem of the elimination of the chattering effect and the improving of the convergence speed for sliding mode control is presented in this paper.A new dynamical sliding mode controller is developed which takes the first derivative of the control signal instead of the actual control as control and results in smoothed control inputs to the given system.A new nonlinear sliding mode surface is devised which can improve the convergence speed in the sliding phase.Exponential reaching law is taken to determine the control law which can improve the convergence speed in the reaching phase.A mobile manipulator with two arms is taken as an example to track a given trajectory with the proposed controller. It is found that the new developed method has a high convergence speed and the chattering is also reduced greatly.

  Info
Periodical
Materials Science Forum (Volumes 626-627)
Edited by
Dongming Guo, Jun Wang, Zhenyuan Jia, Renke Kang, Hang Gao, and Xuyue Wang
Pages
453-458
DOI
10.4028/www.scientific.net/MSF.626-627.453
Citation
H. Mei, Y. Wang, "Dynamical Sliding Mode Control of Mobile Manipulators", Materials Science Forum, Vols. 626-627, pp. 453-458, 2009
Online since
August 2009
Authors
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Price
$32.00
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