NDLI: Tracking controller design of omnidirectional mobile manipulator system

Content Provider	IEEE Xplore Digital Library
Author	Nguyen Hung Dae-Hwan Kim Hak-Kyeong Kim Sang-Bong Kim
Copyright Year	2009
Description	Author affiliation: Department of Mechanical Engineering, Pukyong National University, Busan, Korea (Nguyen Hung; Dae-Hwan Kim; Hak-Kyeong Kim; Sang-Bong Kim)
Abstract	This paper proposed a tracking controller for an omnidirectional mobile manipulator system, a three-linked manipulator mounted on a three-wheeled omnidirectional mobile platform, to track a desired trajectory with constant desired velocity. An end-effector mounted at the end of a manipulator of the omnidirectional mobile manipulator system is controlled to track a desired trajectory with constant desired velocity. A distributed control method is applied to control the omnidirectional mobile manipulator system that includes two subsystems such as an omnidirectional mobile platform and a manipulator. Two controllers are designed to control two subsystems, respectively. Firstly, based on a tracking error vector between a point of the end-effector and a reference point, a kinematic controller is designed for the end-effector of the manipulator to track a reference point. Secondly, based on a tracking error vector between a target point and a real point of the end-effector, a sliding mode controller based on its dynamic model is designed for the omnidirectional mobile platform to move so that the manipulator tracks the desired posture without its singulariry. The control laws are obtained based on backstepping technique and make the tracking error vectors go to zero asymtotically. The system stability is proved using the Lyapunov stability theory. The simulation results are presented to illustrate the usefulness of the proposed control scheme in the presence uncertainties and external disturbances.
Starting Page	539
Ending Page	544
File Size	323668
Page Count	6
File Format	PDF
ISBN	9784907764340
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-08-18
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	SICE
Subject Keyword	Control systems Target tracking Error correction Sliding mode control Manipulator dynamics Velocity control Trajectory Distributed control Kinematics Backstepping Lyapunov function candidate Omnidirectional mobile manipulator system (OMMS) manipulator omnidirectional mobile platform (OMP) distributed control method kinematic controller sliding mode controller
Content Type	Text
Resource Type	Article

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