An adaptive sliding mode backstepping control for the mobile manipulator with nonholonomic constraints
作者： Naijian Chen , Fangzhen Song , Guoping Li , Xuan Sun , Changsheng Ai
DOI: 10.1016/J.CNSNS.2013.02.002
关键词:
摘要: Abstract To solve disturbances, nonlinearity, nonholonomic constraints and dynamic coupling between the platform its mounted robot manipulator, an adaptive sliding mode controller based on backstepping method applied to robust trajectory tracking of wheeled mobile manipulator is described in this article. The control algorithm rests adopting improve global ultimate asymptotic stability applying obtain high response invariability uncertainties. According Lyapunov criterion, divided into several stabilizing subsystems, law designed estimate general nondeterminacy, which make be capable drive error converge zero even presence perturbations mathematical model errors. We compare our with neural network uncertainties, simulation results prove effectivity feasibility proposed manipulator.
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