Dynamical adaptive sliding mode output tracking control of mobile manipulators

The output tracking control problem of the general mobile manipulators including motor dynamics with unknown parameter is studied. A dynamical adaptive sliding mode controller is devised to achieve output tracking of mobile manipulators from a backstepping perspective. The reduced dynamic model including motor dynamics is developed for mobile manipulators; the system is then decoupled by applying input-output linearization and nonlinear input transformation to the reduced model. The design of the dynamical adaptive sliding mode controller is also addressed for the output tracking of mobile manipulators. The results of numerical simulation verify that the dynamical adaptive sliding mode controller can not only track the given trajectory but also considerably reduce the chattering of sliding mode control systems.