Dynamical Sliding Mode Control of Mobile Manipulators

Hong Mei; Yong Wang

doi:10.4028/www.scientific.net/MSF.626-627.453

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HomeMaterials Science ForumMaterials Science Forum Vols. 626-627Dynamical Sliding Mode Control of Mobile...

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.

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Advances in Materials Manufacturing Science and Technology XIII Volume I

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Materials Science Forum (Volumes 626-627)

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453-458

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https://doi.org/10.4028/www.scientific.net/MSF.626-627.453

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Online since:

August 2009

Authors:

Hong Mei, Yong Wang

Keywords:

Chattering, Convergence Speed, Dynamical Sliding Mode Control, Mobile Manipulator, Sliding Mode Surface

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