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Study on Control for Mobile Manipulators Based on Fuzzy Sliding Mode Control

Lili Liu

Open publisher page 1 citations

Abstract

Using the structure of PD+ feedforward control, and combining sliding mode control with fuzzy control, a fuzzy sliding mode controller was proposed for output tracking problem of mobile manipulators. The sliding mode control has invariance to parameter variations, mode uncertainties and disturbance fluctuations. But it also brings the problem of chattering. The problem of chattering was solved by using fuzzy switching surface. Finally, the results of numerical simulation verify that the controller can not only track the given trajectory but also considerably reduce the chattering of sliding mode control systems.

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What this paper is about

Using the structure of PD+ feedforward control, and combining sliding mode control with fuzzy control, a fuzzy sliding mode controller was proposed for output tracking problem of mobile manipulators. The sliding mode control has invariance to parameter variations, mode uncertainties and disturbance fluctuations. But it also brings the problem of chattering. The problem of chattering was solved by using fuzzy switching surface. Finally, the results of numerical simulation verify that the controller can not only track the given trajectory but also considerably reduce the chattering of sliding mode control systems.

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Available abstract

Using the structure of PD+ feedforward control, and combining sliding mode control with fuzzy control, a fuzzy sliding mode controller was proposed for output tracking problem of mobile manipulators. The sliding mode control has invariance to parameter variations, mode uncertainties and disturbance fluctuations. But it also brings the problem of chattering. The problem of chattering was solved by using fuzzy switching surface. Finally, the results of numerical simulation verify that the controller can not only track the given trajectory but also considerably reduce the chattering of sliding mode control systems.

Key concepts: Control theory (sociology), Sliding mode control, Controller (irrigation), Fuzzy logic, Fuzzy control system, Variable structure control, Trajectory, Feed forward

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