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An adaptive sliding mode backstepping control for the mobile manipulator with nonholonomic constraints

机译:具有非完整约束的移动机械臂的自适应滑模反推控制

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To solve disturbances, nonlinearity, nonholonomic constraints and dynamic coupling between the platform and its mounted robot manipulator, an adaptive sliding mode controller based on the backstepping method applied to the robust trajectory tracking of the wheeled mobile manipulator is described in this article. The control algorithm rests on adopting the backstepping method to improve the global ultimate asymptotic stability and applying the sliding mode control to obtain high response and invariability to uncertainties. According to the Lyapunov stability criterion, the wheeled mobile manipulator is divided into several stabilizing subsystems, and an adaptive law is designed to estimate the general nondeterminacy, which make the controller be capable to drive the trajectory tracking error of the mobile manipulator to converge to zero even in the presence of perturbations and mathematical model errors. We compare our controller with the robust neural network based algorithm in nonholonomic constraints and uncertainties, and simulation results prove the effectivity and feasibility of the proposed method in the trajectory tracking of the wheeled mobile manipulator.
机译:为了解决平台与其安装的机器人机械手之间的干扰,非线性,非完整约束和动态耦合,本文介绍了一种基于反推法的自适应滑模控制器,该控制器应用于轮式移动机械手的鲁棒轨迹跟踪。该控制算法的基础在于采用反步法来提高全局极限渐近稳定性,并应用滑模控制来获得不确定性的高响应性和不变性。根据Lyapunov稳定性准则,将轮式移动机械手分为几个稳定子系统,并设计了一种自适应定律来估计一般不确定性,这使控制器能够驱动移动机械手的轨迹跟踪误差收敛到零。即使存在扰动和数学模型错误。在非完整约束和不确定性方面,我们将控制器与基于鲁棒神经网络的算法进行了比较,仿真结果证明了该方法在轮式移动机械手轨迹跟踪中的有效性和可行性。

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