Adaptive and sliding mode control of a mobile manipulator actuated by DC motors. (1st January 2014)

• Record Type: Journal Article
• Authors: Karray, Amal; Feki, Moez
• Is Part Of: International journal of automation and control. Volume 8:Number 2(2014)
• Page Start: 173
• Page End: 190
• Publication Date: 2014-01-01
• Subjects: mobile manipulator -- adaptive control -- sliding mode control -- DC motors; Automation -- Periodicals; Control theory -- Periodicals; Automatic control -- Periodicals; Robots -- Periodicals; Bionics -- Periodicals; Intelligent control systems -- Periodicals
• Languages: English
• ISSNs: 1740-7516

Abstract

This paper deals with a dynamic feedback control design to achieve the trajectory tracking control of non-holonomic mobile manipulator actuated by DC motors with uncertain parameters and bounded external disturbances. The design is based on a backstepping technique, we first, consider the velocity as virtual controller to be designed for the kinematic steering system and next the torque controller is computed such that the mobile manipulator velocity converges to the desired virtual velocity controller. To overcome the unknown perturbation effects and the parameters uncertainties, an adaptive estimator is used. Next, a sliding mode control scheme is designed to control DC motors that are used to provide the necessary torques. Simulation results are given to demonstrate the robustness of the proposed scheme.