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

Moharam Habibnejad Korayem (Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran)
Reza Shiri (Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran)
Saeed Rafee Nekoo (Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran)
Zohair Fazilati (Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran)

Industrial Robot

ISSN: 0143-991x

Article publication date: 19 June 2017

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.

Keywords

Citation

Habibnejad Korayem, M., Shiri, R., Rafee Nekoo, S. and Fazilati, Z. (2017), "Non-singular terminal sliding mode control design for wheeled mobile manipulator", Industrial Robot, Vol. 44 No. 4, pp. 501-511. https://doi.org/10.1108/IR-10-2016-0263

Publisher

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Emerald Publishing Limited

Copyright © 2017, Emerald Publishing Limited