| Title: | OS11-2 Dynamic Model and Finite-Time SMC and Backstepping Control of a Mobile-Manipulator System |
|---|---|
| Publication: | ICAROB2017 |
| Volume: | 22 |
| Pages: | 445-451 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2017.OS11-2 |
| Author(s): | Seong-Ik Han, Hyun-Uk Ha, Jang-Myung Lee |
| Publication Date: | January 19, 2017 |
| Keywords: | Mobile-manipulator, Finite-time sliding mode control, Finite-time backsteppping control |
| Abstract: | A mobile manipulator was designed by combining three-wheeled mobile robot equipped with the DC motor and three-links manipulator equipped with dynamixel motor. The kinematic relation and dynamic model were built via nonholonomic constraint and Euler-Lagrange equation. For the decoupled model of this system, adaptive finitetime controllers sliding mode controller (SMC) and backstepping controller were designed respectively to obtain fast tracking response. Simulation and experimental results show the efficacy of the proposed control scheme. |
| PDF File: | https://alife-robotics.co.jp/members2017/icarob/data/html/data/OS_pdf/OS11/OS11-2.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/ |
(c)2008 Copyright The Regents of ALife Robotics Corporation Ltd. All Rights Reserved.