This research principally focused on the feedback control system design for a mobile manipulator and proposes a sliding mode control approach for a two-wheeled mobile manipulator. The wheeled mobile manipulator composed of a two-wheeled mobile platform and a two-degree of freedom onboard manipulator. The dynamic models are established and the sliding mode control techniques are employed. In this thesis work, both regulation and tracking problem are handled. For both regulation and tracking control, a distributed control technique is applied to control the mobile manipulator system that includes two subsystems: a mobile platform and a manipulator. Two controllers are used to control the two subsystems. Firstly, for tracking control the whole system of mobile manipulator is divided into two interrelated subsystems: non-holonomic mobile platform subsystem and manipulator subsystem. Second, inner (kinematic) and outer(dynamic) controllers are developed for the MP subsystem. The kinematic control provides the wanted velocity that is used to develop the dynamic controller ensuring the tracking of the wanted trajectories of the mobile platform subsystem. Third, the control law of the manipulator subsystem is developed based on the wanted and actual values of the manipulator subsystem as well as the desired velocity of the platform subsystem. For regulation purpose, lyapunov based variable structure state feedback controller is designed to ensure the final position regulation for mobile platform instead of terminal slide mode in case of tracking problem and slide mode controller is applied for regulation of manipulator subsystem. In case of tracking problem, the proposed controller is achieved trajectory tracking efficiently which insensitive to random external disturbance(robustness) and fast response with good tracking performances. The simulation is conducted using MATLAB/SIMULINK is shown at last demonstrated the performance and effectiveness of the proposed slide mode controller.


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    Title :

    TRAJECTORY TRACKING CONTROL OF MOBILE MANIPULATOR USING SLIDING MODE CONTROL (SMC)


    Contributors:
    ADDISU SAFO (author)

    Publication date :

    2019-10-25


    Remarks:

    doi:10.20372/nadre/4171



    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629