Tracking Control and Simulation Analysis of a Welding Mobile Manipulator

A new sliding mode variable structure controller is proposed.First,aiming at improving the convergence speed,a new nonlinear sliding mode surface is proposed.Then,the reasons for chattering are discussed.On one side,the sample period is revised to impair the chattering which often happens in traditional sliding mode variable structure control.On the other side,the initial error speed is designed to make the initial state of the system to be just on the sliding mode surface which is also to impair the chattering.Finally, a mobile manipulator with two arms is taken as an example to simulate the trajectory tracking with the proposed controller.It is found that the system shows high convergence speed and strong robustness against disturbance.The chattering is also impaired greatly.It shows that this new method of sliding mode control is useful.