Abstract
Dynamic Model and Finite-Time SMC and Backstepping Control of a Mobile-Manipulator System
Highlights
The mobile-manipulator system has more freedom for robot works and it has drawn more attention recently
sliding mode controller (SMC) [1],[2] and backstepping control [3] are frequently applied to control robot system but these controllers are derived based on the infinite-time stability theorem
The system parameter and uncertainty are obtained by estimation for them via adaptive observers
Summary
The mobile-manipulator system has more freedom for robot works and it has drawn more attention recently. The kinematic and dynamic coupled model for threewheeled mobile robot and three-link manipulator system is derived using nonholomonic constraint and Euler-Lagrange equation. The matrices M 2C are skew-symmetric because of the suitable definition of the corresponding inertia and Coriolis matrix This modeling method goes through the complex transformation calculation inevitably to remove the Lagrange multiplier. A reference to the mobile platform generates a trajectory for the actual platform to follow: qvr Jv (qv ) vr ,. By selecting qv [x y ]T as the generalized coordinates of the mobile platform, the constraint can be expressed as follows: Av (qv )qv 0 ,. Where kx , ky ,and k are positive constants and vr 0 This is called the extended kinematic control for mobile platform with link 1.
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