Robust adaptive motion/force control scheme for crawler-type mobile manipulator with nonholonomic constraint based on sliding mode control approach

Jinzhu Peng; Zeqi Yang; Yaonan Wang; Fangfang Zhang; Yanhong Liu

doi:10.1016/j.isatra.2019.02.009

Robust adaptive motion/force control scheme for crawler-type mobile manipulator with nonholonomic constraint based on sliding mode control approach

ISA Trans. 2019 Sep:92:166-179. doi: 10.1016/j.isatra.2019.02.009. Epub 2019 Feb 25.

Authors

Jinzhu Peng¹, Zeqi Yang², Yaonan Wang³, Fangfang Zhang⁴, Yanhong Liu²

Affiliations

¹ School of Electrical Engineering, Zhengzhou University, Zhengzhou 450001, Henan, China. Electronic address: jzpeng@zzu.edu.cn.
² School of Electrical Engineering, Zhengzhou University, Zhengzhou 450001, Henan, China.
³ College of Electrical and Information Engineering, Hunan University, Changsha 410082, Hunan, China.
⁴ School of Electrical Engineering, Zhengzhou University, Zhengzhou 450001, Henan, China. Electronic address: zhangfangfang@zzu.edu.cn.

PMID: 30837125
DOI: 10.1016/j.isatra.2019.02.009

Abstract

In this paper, a robust adaptive motion/force control (RAMFC) scheme is presented for a crawler-type mobile manipulator (CTMM) with nonholonomic constraint. For the position tracking control design, an adaptive sliding mode tracking controller is proposed to deal with the unknown upper bounds of system parameter uncertainties and external disturbances. Based on the position tracking results, a robust control strategy is also developed for the nonholonomic constraint force of CTMM. According to the Lyapunov stability theory, the stability of the closed-loop control system, the uniformly ultimately boundedness of position tracking errors, and the boundedness of the force error and adaptive coefficient errors are all guaranteed by using the derived RAMFC scheme. Simulation and experimental tests on a CTMM with two-link manipulator demonstrate the effectiveness and robustness of the proposed control scheme.

Keywords: Adaptive control; Crawler-type mobile manipulator; Motion/force control; Nonholonomic system; Sliding mode control.