Get 20M+ Full-Text Papers For Less Than $1.50/day. Start a 14-Day Trial for You or Your Team.

Learn More →

Non-singular terminal sliding mode control design for wheeled mobile manipulator

Non-singular terminal sliding mode control design for wheeled mobile manipulator Purpose The purpose of this paper is to propose an indirect design for sliding surface as a function of position and velocity of each joint (for mounted manipulator on base) and center of mass of mobile base which includes rotation of wheels. The aim is to control the mobile base and its mounted arms using a unified sliding surface. Design/methodology/approach A new implementation of sliding mode control has been proposed for wheeled mobile manipulators, regulation and tracking cases. In the conventional sliding mode design, the position and velocity of each coordinate are often considered as the states in the sliding surface, and consequently, the input control is found based on them. A mobile robot consisted of non-holonomic constraints, makes the definition of the sliding surface more complex and it cannot simply include the coordinates of the system. Findings Formulism of both sliding mode control and non-singular terminal sliding mode control were presented and implemented on Scout robot. The simulations were validated with experimental studies, which led to satisfactory analysis. The non-singular terminal sliding mode control actually had a better performance, as it was illustrated that at time 10 s, the error for that was only 8.4 mm, where the error for conventional sliding mode control was 11.2 mm. Originality/value This work proposes sliding mode and non-singular terminal sliding mode control structure for wheeled mobile robot with a sliding surface including state variables: center of mass of base, wheels’ rotation and arm coordinates. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Industrial Robot: An International Journal Emerald Publishing

Non-singular terminal sliding mode control design for wheeled mobile manipulator

Loading next page...
 
/lp/emerald-publishing/non-singular-terminal-sliding-mode-control-design-for-wheeled-mobile-4Q2LNsoX9p
Publisher
Emerald Publishing
Copyright
Copyright © Emerald Group Publishing Limited
ISSN
0143-991X
DOI
10.1108/IR-10-2016-0263
Publisher site
See Article on Publisher Site

Abstract

Purpose The purpose of this paper is to propose an indirect design for sliding surface as a function of position and velocity of each joint (for mounted manipulator on base) and center of mass of mobile base which includes rotation of wheels. The aim is to control the mobile base and its mounted arms using a unified sliding surface. Design/methodology/approach A new implementation of sliding mode control has been proposed for wheeled mobile manipulators, regulation and tracking cases. In the conventional sliding mode design, the position and velocity of each coordinate are often considered as the states in the sliding surface, and consequently, the input control is found based on them. A mobile robot consisted of non-holonomic constraints, makes the definition of the sliding surface more complex and it cannot simply include the coordinates of the system. Findings Formulism of both sliding mode control and non-singular terminal sliding mode control were presented and implemented on Scout robot. The simulations were validated with experimental studies, which led to satisfactory analysis. The non-singular terminal sliding mode control actually had a better performance, as it was illustrated that at time 10 s, the error for that was only 8.4 mm, where the error for conventional sliding mode control was 11.2 mm. Originality/value This work proposes sliding mode and non-singular terminal sliding mode control structure for wheeled mobile robot with a sliding surface including state variables: center of mass of base, wheels’ rotation and arm coordinates.

Journal

Industrial Robot: An International JournalEmerald Publishing

Published: Jun 19, 2017

References