吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (3): 892-898.doi: 10.13229/j.cnki.jdxbgxb201503030

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Adaptive fuzzy sliding mode control for crawler-type mobile manipulators

CHEN Jie1, 2, MO Wei1   

  1. 1.School of Electro-Mechanical Engineering , Xidian University, Xi'an 710071, China;
    2.Research and Development Center, Chang jiang Computer Group Corporation, Shanghai 200001, China
  • Received:2014-09-05 Online:2015-05-01 Published:2015-05-01

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Abstract: This paper proposes a trajectory tracking control method for nonlinear and uncertainty nonholonomic mobile manipulator control system based on adaptive fuzzy control and non-singular terminal sliding mode control. First, a dynamic model for the nonholonomic mobile manipulator is established. The Fuzzy Gaussian Potential Function Neural Networks (FGPFNN) is employed, because of its nonlinear approximation performance, to compensate the uncertainties of unknown parameters of the system optimally. Second, the non-singular terminal sliding mode control is proposed in order to eliminate the influences of unknown outside interference and approximation errors on the system. Finally, the stability theorem of the control system is obtained by applying the Lyapunov stability theory. Simulation results demonstrate the effectiveness and superiority the proposed control method.

Key words: automatic control technology, mobile manipulator, adaptive fuzzy control, non-singular terminal sliding mode control, Lyapunov stability theory

CLC Number: 

  • TP242
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