Trajectory Tracking of a 2-Link Mobile Manipulator Using Sliding Mode Control Method

<!DOCTYPE html> <html lang="en" dir="ltr"> <head>  <script async src="https://www.googletagmanager.com/gtag/js?id=G-P63WKM1TM1"></script> <script> window.dataLayer = window.dataLayer || []; function gtag(){dataLayer.push(arguments);} gtag('js', new Date()); gtag('config', 'G-P63WKM1TM1'); </script>  <script type="text/javascript" > (function(m,e,t,r,i,k,a){m[i]=m[i]||function(){(m[i].a=m[i].a||[]).push(arguments)}; m[i].l=1*new Date(); for (var j = 0; j < document.scripts.length; j++) {if (document.scripts[j].src === r) { return; }} k=e.createElement(t),a=e.getElementsByTagName(t)[0],k.async=1,k.src=r,a.parentNode.insertBefore(k,a)}) (window, document, "script", "https://mc.yandex.ru/metrika/tag.js", "ym"); ym(55165297, "init", { clickmap:false, trackLinks:true, accurateTrackBounce:true, webvisor:false }); </script> <noscript><div><img src="https://mc.yandex.ru/watch/55165297" style="position:absolute; left:-9999px;" alt="" /></div></noscript>    <title>Trajectory Tracking of a 2-Link Mobile Manipulator Using Sliding Mode Control Method</title> <meta name="description" content="Trajectory Tracking of a 2-Link Mobile Manipulator Using Sliding Mode Control Method"> <meta name="keywords" content="Mobile manipulator, sliding mode control, dynamic interaction, mobile robotics."> <meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1, user-scalable=no"> <meta charset="utf-8"> <meta name="citation_title" content="Trajectory Tracking of a 2-Link Mobile Manipulator Using Sliding Mode Control Method"> <meta name="citation_author" content="Abolfazl Mohammadijoo"> <meta name="citation_publication_date" content="2023/05/14"> <meta name="citation_journal_title" content="International Journal of Mechanical and Mechatronics Engineering"> <meta name="citation_volume" content="17"> <meta name="citation_issue" content="5"> <meta name="citation_firstpage" content="195"> <meta name="citation_lastpage" content="201"> <meta name="citation_pdf_url" content="https://publications.waset.org/10013083/pdf"> <link href="https://cdn.waset.org/favicon.ico" type="image/x-icon" rel="shortcut icon"> <link href="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/css/bootstrap.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/plugins/fontawesome/css/all.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/css/site.css?v=150220211555" rel="stylesheet"> </head> <body> <header> <div class="container"> <nav class="navbar navbar-expand-lg navbar-light"> <a class="navbar-brand" href="https://waset.org"> <img src="https://cdn.waset.org/static/images/wasetc.png" alt="Open Science Research Excellence" title="Open Science Research Excellence" /> </a> <button class="d-block d-lg-none navbar-toggler ml-auto" type="button" data-toggle="collapse" data-target="#navbarMenu" aria-controls="navbarMenu" aria-expanded="false" aria-label="Toggle navigation"> <span class="navbar-toggler-icon"></span> </button> <div class="w-100"> <div class="d-none d-lg-flex flex-row-reverse"> <form method="get" action="https://waset.org/search" class="form-inline my-2 my-lg-0"> <input class="form-control mr-sm-2" type="search" placeholder="Search Conferences" value="" name="q" aria-label="Search"> <button class="btn btn-light my-2 my-sm-0" type="submit"><i class="fas fa-search"></i></button> </form> </div> <div class="collapse navbar-collapse mt-1" id="navbarMenu"> <ul class="navbar-nav ml-auto align-items-center" id="mainNavMenu"> <li class="nav-item"> <a class="nav-link" href="https://waset.org/conferences" title="Conferences in 2024/2025/2026">Conferences</a> </li> <li class="nav-item"> <a class="nav-link" href="https://waset.org/disciplines" title="Disciplines">Disciplines</a> </li> <li class="nav-item"> <a class="nav-link" href="https://waset.org/committees" rel="nofollow">Committees</a> </li> <li class="nav-item dropdown"> <a class="nav-link dropdown-toggle" href="#" id="navbarDropdownPublications" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false"> Publications </a> <div class="dropdown-menu" aria-labelledby="navbarDropdownPublications"> <a class="dropdown-item" href="https://publications.waset.org/abstracts">Abstracts</a> <a class="dropdown-item" href="https://publications.waset.org">Periodicals</a> <a class="dropdown-item" href="https://publications.waset.org/archive">Archive</a> </div> </li> <li class="nav-item"> <a class="nav-link" href="https://waset.org/page/support" title="Support">Support</a> </li> </ul> </div> </div> </nav> </div> </header> <main> <div class="container mt-4"> <div class="row"> <div class="col-md-9 mx-auto"> <form method="get" action="https://publications.waset.org/search"> <div id="custom-search-input"> <div class="input-group"> <i class="fas fa-search"></i> <input type="text" class="search-query" name="q" placeholder="Author, Title, Abstract, Keywords" value=""> <input type="submit" class="btn_search" value="Search"> </div> </div> </form> </div> </div> <div class="row mt-3"> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Commenced</strong> in January 2007</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Frequency:</strong> Monthly</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Edition:</strong> International</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Paper Count:</strong> 33093</div> </div> </div> </div> <div class="card publication-listing mt-3 mb-3"> <h5 class="card-header" style="font-size:.9rem">Trajectory Tracking of a 2-Link Mobile Manipulator Using Sliding Mode Control Method</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Abolfazl%20Mohammadijoo">Abolfazl Mohammadijoo</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>In this paper, we are investigating sliding mode control approach for trajectory tracking of a two-link-manipulator with wheeled mobile robot in its base. The main challenge of this work is dynamic interaction between mobile base and manipulator which makes trajectory tracking more difficult than n-link manipulators with fixed base. Another challenging part of this work is to avoid chattering phenomenon of sliding mode control that makes lots of damages for actuators in real industrial cases. The results show the effectiveness of sliding mode control approach for desired trajectory. </p> <iframe src="https://publications.waset.org/10013083.pdf" style="width:100%; height:400px;" frameborder="0"></iframe> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Mobile%20manipulator" title="Mobile manipulator">Mobile manipulator</a>, <a href="https://publications.waset.org/search?q=sliding%20mode%20control" title=" sliding mode control"> sliding mode control</a>, <a href="https://publications.waset.org/search?q=dynamic%20interaction" title=" dynamic interaction"> dynamic interaction</a>, <a href="https://publications.waset.org/search?q=mobile%20robotics." title=" mobile robotics."> mobile robotics.</a> </p> <a href="https://publications.waset.org/10013083/trajectory-tracking-of-a-2-link-mobile-manipulator-using-sliding-mode-control-method" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10013083/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10013083/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10013083/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10013083/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10013083/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10013083/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10013083/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10013083/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10013083/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10013083/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10013083.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">504</span> </span> <p class="card-text"><strong>References:</strong></p> <br>[1] Y. Yamamoto, Ph.D. Thesis: Control and Coordination of Locomotion and Manipulation of a Wheeled Mobile Manipulator, Philadelphia, PA, USA: Department of Computer and Information Science, School of Engineering and Applied Science, University of Pennsylvania, 1994. <br>[2] Abdelouahab Hassam and Miloud Hamani, "Motion Control of Non-Holonomic Mobile Manipulator Using Fuzzy Logic," in 8th Saudi Engineering Conference, Buraydah, Saudi Arabia, 2011. <br>[3] Zhong-Ping Jiang, Erjen Lefeber and Henk Nijmeijer, "Saturated stabilization and tracking of a nonholonomic mobile robot," Systems & Control Letters, vol. 42, no. 5, pp. 327-332, 2001. <br>[4] J.P. Desai, J.P. Ostrowski and V. Kumar, "Modeling and control of formations of nonholonomic mobile robots," IEEE Transactions on Robotics and Automation, vol. 17, no. 6, pp. 905-908, 2001. <br>[5] Santosha Kumar Dwivedy and Peter Eberhard, "Dynamic analysis of flexible manipulators, a literature review," Mechanism and Machine Theory, vol. 41, no. 7, pp. 749-777, 2006. <br>[6] Subudhi and A.S. Morris, "Dynamic modelling, simulation and control of a manipulator with flexible links and joints," Robotics and Autonomous Systems, vol. 41, no. 4, pp. 257-270, 2002. <br>[7] S. Nicosia, P. Tomei and A. Tornambe, "Dynamic modelling of flexible robot manipulators," in IEEE International Conference on Robotics and Automation, San Francisco, CA, USA, 1986. <br>[8] Y. Yamamoto and Xiaoping Yun, "Effect of the dynamic interaction on coordinated control of mobile manipulators," IEEE Transactions on Robotics and Automation, vol. 12, no. 5, pp. 816-824, 1996. <br>[9] O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg and A. Casal, "Vehicle/arm coordination and multiple mobile manipulator decentralized cooperation," in IEEE/RSJ International Conference on Intelligent Robots and Systems, Osaka, Japan, Nov. 1996. <br>[10] Vivek A. Sujan and Steven Dubowsky, "An Optimal Information Method for Mobile Manipulator Dynamic Parameter Identification," IEEE/ASME Transactions on Mechatronics, vol. 2, no. 2, pp. 215-225, June 2003. <br>[11] Glenn D. White, Rajankumar M. Bhatt, Chin Pei Tang and Venkat N. Krovi, "Experimental Evaluation of Dynamic Redundancy Resolution in a Nonholonomic Wheeled Mobile Manipulator," IEEE/ASME Transactions on Mechatronics, vol. 14, no. 3, pp. 349-357, June 2009. <br>[12] V. Padois, J.-Y. Fourquet and P. Chiron, "Kinematic and dynamic model-based control of wheeled mobile manipulators: a unified framework for reactive approaches," Robotica, vol. 25, no. 2, pp. 157-173, 2007. <br>[13] N.A.M. Hootsmans and S. Dubowsky, "Large motion control of mobile manipulators including vehicle suspension characteristics," in IEEE International Conference on Robotics and Automation, Sacramento, CA, USA, April 1991. <br>[14] L. T. Wang and B. Ravani, "Dynamic Load Carrying Capacity of Mechanical Manipulators—Part I: Problem Formulation," Journal of Dynamic Systems, Measurement, and Control, vol. 110, no. 1, pp. 46-52, 1988. <br>[15] L. T. Wang and B. Ravani, "Dynamic Load Carrying Capacity of Mechanical Manipulators—Part II: Computational Procedure and Applications," Journal of Dynamic Systems, Measurement, and Control, vol. 110, no. 1, pp. 53-61, 1988. <br>[16] M.H.Korayem and A.Basu, "Dynamic load carrying capacity of robotic manipulators with joint elasticity imposing accuracy constraints," Robotics and Autonomous Systems, vol. 13, no. 3, pp. 219-229, October 1994. <br>[17] M. H. Korayem and M. Bamdad, "Dynamic load-carrying capacity of cable-suspended parallel manipulators," The International Journal of Advanced Manufacturing Technology, vol. 44, no. 7-8, p. 829–840, October 2009. <br>[18] Jun Wu, Xiaolei Chen, Liping Wang and Xinjun Liu, "Dynamic load-carrying capacity of a novel redundantly actuated parallel conveyor," Nonlinear Dynamics, vol. 78, no. 1, p. 241–250, October 2014. <br>[19] Zhijun Li, Shuzhi Sam Ge and Aiguo Ming, "Adaptive Robust Motion/Force Control of Holonomic-Constrained Nonholonomic Mobile Manipulators," IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), vol. 37, no. 3, pp. 607-616, June 2007. <br>[20] Naijian Chen, Fangzhen Song, Guoping Li, Xuan Sun and Changsheng Ai, "An adaptive sliding mode backstepping control for the mobile manipulator with nonholonomic constraints," Communications in Nonlinear Science and Numerical Simulation, vol. 18, no. 10, pp. 2885-2899, October 2013. <br>[21] Zhijun Li, Shuzhi Sam Ge, Martin Adams and Wijerupage Sardha Wijesoma, "Adaptive Robust Output-Feedback Motion/Force Control of Electrically Driven Nonholonomic Mobile Manipulators," IEEE Transactions on Control Systems Technology, vol. 16, no. 6, pp. 1308-1315, Nov. 2008. <br>[22] Cihan Acar and Toshiyuki Murakami, "Underactuated two-wheeled mobile manipulator control using nonlinear backstepping method," in 34th Annual Conference of IEEE Industrial Electronics, Orlando, FL, USA, Nov. 2008. <br>[23] Z. Li, S.S. Ge, M. Adams and W.S. Wijesoma, "Robust adaptive control of uncertain force/motion constrained nonholonomic mobile manipulators," Automatica, vol. 44, no. 3, pp. 776-784, March 2008. <br>[24] Zhijun Li and Chun-Yi Su, "Neural-Adaptive Control of Single-Master–Multiple-Slaves Teleoperation for Coordinated Multiple Mobile Manipulators with Time-Varying Communication Delays and Input Uncertainties," IEEE Transactions on Neural Networks and Learning Systems, vol. 24, no. 9, pp. 1400-1413, Sept. 2013. <br>[25] Sheng Lin and A.A. Goldenberg, "Neural-network control of mobile manipulators," IEEE Transactions on Neural Networks, vol. 12, no. 5, pp. 1121-1133, Sep 2001. <br>[26] Dong Xu, Dongbin Zhao, Jianqiang Yi and Xiangmin Tan, "Trajectory Tracking Control of Omnidirectional Wheeled Mobile Manipulators: Robust Neural Network-Based Sliding Mode Approach," IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), vol. 39, no. 3, pp. 788-799, June 2009. <br>[27] Yugang Liu and Yangmin Li, "Sliding Mode Adaptive Neural-Network Control for Nonholonomic Mobile Modular Manipulators," Journal of Intelligent and Robotic Systems, vol. 44, no. 3, p. 203–224, November 2005. <br>[28] Jean Bosco Mbede, Pierre Ele, Chantal-Marguerite Mveh-Abia, Youssoufi Toure, Volker Graefe and Shugen Ma, "Intelligent mobile manipulator navigation using adaptive neuro-fuzzy systems," Information Sciences, vol. 171, no. 4, pp. 447-474, May 2005. <br>[29] Homayoun Najjaran and Andrew Goldenberg, "Real-time motion planning of an autonomous mobile manipulator using a fuzzy adaptive Kalman filter," Robotics and Autonomous Systems, vol. 55, no. 2, pp. 96-106, February 2007. <br>[30] Yangmin Li and Yugang Liu, "Real-Time Tip-Over Prevention and Path Following Control for Redundant Nonholonomic Mobile Modular Manipulators via Fuzzy and Neural-Fuzzy Approaches," Journal of Dynamic Systems, Measurement, and Control, vol. 128, no. 4, pp. 753-764, Dec 2005. <br>[31] Y. Yamamoto and X. Yun, "Coordinating locomotion and manipulation of a mobile manipulator," in Proceedings of the 31st IEEE Conference on Decision and Control, Tucson, AZ, USA, 1992. <br>[32] K. Liu and F.L. Lewis, "Decentralized continuous robust controller for mobile robots," in Proceedings., IEEE International Conference on Robotics and Automation, Cincinnati, OH, USA, May 1990. </div> </div> </div> </main> <footer> <div id="infolinks" class="pt-3 pb-2"> <div class="container"> <div style="background-color:#f5f5f5;" class="p-3"> <div class="row"> <div class="col-md-2"> <ul class="list-unstyled"> About <li><a href="https://waset.org/page/support">About Us</a></li> <li><a href="https://waset.org/page/support#legal-information">Legal</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/WASET-16th-foundational-anniversary.pdf">WASET celebrates its 16th foundational anniversary</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Account <li><a href="https://waset.org/profile">My Account</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Explore <li><a href="https://waset.org/disciplines">Disciplines</a></li> <li><a href="https://waset.org/conferences">Conferences</a></li> <li><a href="https://waset.org/conference-programs">Conference Program</a></li> <li><a href="https://waset.org/committees">Committees</a></li> <li><a href="https://publications.waset.org">Publications</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Research <li><a href="https://publications.waset.org/abstracts">Abstracts</a></li> <li><a href="https://publications.waset.org">Periodicals</a></li> <li><a href="https://publications.waset.org/archive">Archive</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Open Science <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Open-Science-Philosophy.pdf">Open Science Philosophy</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Open-Science-Award.pdf">Open Science Award</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Open-Society-Open-Science-and-Open-Innovation.pdf">Open Innovation</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Postdoctoral-Fellowship-Award.pdf">Postdoctoral Fellowship Award</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Scholarly-Research-Review.pdf">Scholarly Research Review</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Support <li><a href="https://waset.org/page/support">Support</a></li> <li><a href="https://waset.org/profile/messages/create">Contact Us</a></li> <li><a href="https://waset.org/profile/messages/create">Report Abuse</a></li> </ul> </div> </div> </div> </div> </div> <div class="container text-center"> <hr style="margin-top:0;margin-bottom:.3rem;"> <a href="https://creativecommons.org/licenses/by/4.0/" target="_blank" class="text-muted small">Creative Commons Attribution 4.0 International License</a> <div id="copy" class="mt-2">© 2024 World Academy of Science, Engineering and Technology</div> </div> </footer> <a href="javascript:" id="return-to-top"><i class="fas fa-arrow-up"></i></a> <div class="modal" id="modal-template"> <div class="modal-dialog"> <div class="modal-content"> <div class="row m-0 mt-1"> <div class="col-md-12"> <button type="button" class="close" data-dismiss="modal" aria-label="Close"><span aria-hidden="true">×</span></button> </div> </div> <div class="modal-body"></div> </div> </div> </div> <script src="https://cdn.waset.org/static/plugins/jquery-3.3.1.min.js"></script> <script src="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/js/bootstrap.bundle.min.js"></script> <script src="https://cdn.waset.org/static/js/site.js?v=150220211556"></script> <script> jQuery(document).ready(function() { /*jQuery.get("https://publications.waset.org/xhr/user-menu", function (response) { jQuery('#mainNavMenu').append(response); });*/ jQuery.get({ url: "https://publications.waset.org/xhr/user-menu", cache: false }).then(function(response){ jQuery('#mainNavMenu').append(response); }); }); </script> </body> </html>

CINXE.COM

Trajectory Tracking of a 2-Link Mobile Manipulator Using Sliding Mode Control Method