Sliding mode control for trajectory tracking on mobile manipulators

This paper proposes a sliding mode control approach for a wheeled mobile manipulator. The wheeled mobile manipulator composed of a four-wheeled mobile platform and a three-degree of freedom onboard manipulator. The dynamic models are established and the sliding mode control methods are employed. The entire control system is decomposed into two subsystems, including the sliding mode control of the mobile platform and the non-singular terminal sliding mode control of the manipulator. The simulation results are shown at last and demonstrate the effectiveness of the presented algorithm.