Trajectory Tracking Control of Mobile Manipulator Based on Improved Sliding Mode Control Algorithm
Shuwan Cui,
Huzhe Song,
Te Zheng
et al.
Abstract:Research on trajectory tracking control for climbing welding robots holds significant importance in the field of automated welding. However, existing trajectory tracking methods suffer from issues such as jitter and slow speed. In this paper, an improved sliding mode control strategy is proposed based on the self-designed wall-climbing welding mobile manipulator. Firstly, a new adaptive sliding mode control strategy is proposed for the mobile platform based on the kinematic model. By introducing a new approach… Show more
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