Assumed model feedforward sliding mode control for a wheeled mobile robot with 3-DOF manipulator systems

In this paper, a three wheeled mobile platform with a 3-DOF manipulator was designed and its dynamic model has been constructed and a Sliding mode control (SMC) with the kinematic control is designed to follow the designed position trajectory for a mobile manipulator. Next, an assumed dynamic model of each system is used to design sliding mode controller in order to replace the modelbased control and adaptive estimation for unknown dynamic parameters. The stability of the proposed control scheme has been proved by Lyapunov theory. The effectiveness and accuracy of the proposed algorithm has been verified by simulations and practical experiments for the developed mobile manipulator system. And the simulation and experimental results have been compared to those of traditional PID algorithm to show the superiority of the proposed algorithm.