Output tracking control of mobile manipulators via dynamical sliding mode control

The output tracking control problem of the general mobile manipulators including motor dynamics in the generalized coordinate space is studied. A dynamical sliding mode controller is devised to achieve output tracking of mobile manipulators. The reduced dynamic model including motor dynamics is developed for mobile manipulators. The system is then decomposed into four lower-dimensional subsystems by applying diffeomorphism and nonlinear input transformation to the reduced model. The design of the dynamical sliding mode controller is also addressed for the output tracking of mobile manipulators. The results of numerical simulation verify that the dynamical sliding mode controller can not only track the given trajectory but also considerably reduce the chattering of sliding mode control systems.