Title :
Sliding-mode control of coordinated nonholonomic mobile manipulators
Author :
Solea, Razvan ; Cernega, Daniela Cristina
Author_Institution :
Fac. of Autom. Control, Comput., Electr. & Electron. Eng., Dunarea de Jos, Univ. of Galati, Galati, Romania
Abstract :
Coordinated systems of multiple mobile manipulators can be much more flexible than single mobile manipulator in order to accomplish complex and changeable tasks. In this paper, sliding-mode control strategies are used to control the coordinated multiple mobile manipulators which carry a common object. The control ensures that the output tracking errors of the system converge to zero. Simulation studies show the effectiveness of the proposed scheme.
Keywords :
manipulators; mobile robots; multi-robot systems; variable structure systems; coordinated nonholonomic mobile manipulator; multiple mobile manipulator; output tracking error; sliding mode control; system converge; Kinematics; Manipulators; Mobile communication; Mobile robots; Robot kinematics; Trajectory;
Conference_Titel :
System Theory, Control, and Computing (ICSTCC), 2011 15th International Conference on
Conference_Location :
Sinaia
Print_ISBN :
978-1-4577-1173-2
