Stability control and trajectory tracking of two wheeled mobile manipulator

摘要

In the field of robotics, the two wheel mobile manipulator has the potential to perform wide range of applications. Balancing of the system becomes a bothering task due to the highly unstable nature of the system. Nonlinear model of wheeled mobile manipulator is developed using Lagrange's equations by considering the dynamics of wheel and links. Control method for balancing the two wheeled mobile manipulator using sliding mode controller (SMC) is also designed in the work. The sliding mode control methods are developed from complete dynamic equation of the manipulator to make self sustaining vertically. SMC is implemented in system for achieving tracking control also. Simulations are performed to check the validity of the proposed controller in matlab environment. Settling time and maximum deviation from desired value required to achieve stability of the system using linear quadratic regulator (LQR) controller and SMC are compared.