GS7-3 Modeling of Mobile Manipulator and Adaptive Super-Twisting Backstepping Control

Title:	GS7-3 Modeling of Mobile Manipulator and Adaptive Super-Twisting Backstepping Control
Publication:	ICAROB2016
Volume:	21
Pages:	298-301
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2016.GS7-3
Author(s):	Seong-Ik Han, Deok-Su Kim, Hyun-Uk Ha, Jang-Myung Lee
Publication Date:	January 29, 2016
Keywords:	Mobile-manipulator, Super-twisting sliding mode control, Backsteppping control
Abstract:	A mobile manipulator with three wheels and three DOF links is modeled by using Euler-Lagrange method and vector orientated constraint conditions. In this modeling process, the conventional complex nonholonomic constraint transformation need not be considered in mobile robot system and then much simpler dynamic model can be obtained. Next, the super-twisting sliding mode control is combined with nonlinear backstepping control to obtain the systematic nonlinear controller design, fast response speed, and improved robustness to uncertainty due to dynamic coupling and disturbance. Simulation and experiment were carried out to prove the effectiveness of the proposed control methodology.
PDF File:	https://alife-robotics.co.jp/members2016/icarob/data/papers/GS/GS7-3.pdf
Copyright:	© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/