Mobile Manipulators Fuzzy Sliding Code Control Strategy

Compared with the manipulator, the mobile manipulators have bigger workspace and higher agility. Moreover, the mobile manipulators are more complex than the single system. On the other hand, some mobile manipulators are typically nonholonomic systems, whose research involves to a series of related problems, such as building up model, designing the controller and interference. These problems can't reach ideal results by using the classic control methods. The intelligent control methods such as fuzzy control are the main research directions that resolve those problems.The research object of the thesis is an airport service robot. And it studies the control problem of the mobile manipulators. Firstly, the research status of control of mobile manipulators is comprehensively surveyed, and it introduces the architecture of the mobile robot. Then it presents the design projects of the hardware and software of the mobile manipulators. The mathematical models of wheeled mobile manipulators are presented and optimized. Finally,it gives the design methods of sliding mode control and fuzzy control and proposes the design technique for tracking control of nonholonomic mobile manipulators.The sliding mode control has invariance to parameter variations, mode uncertainties and disturbance fluctuations. But it also brings the problem of chattering. It solves the problem of chattering by using fuzzy switching surface. Using the structure of PD+ feedforward control, and combining sliding mode control with fuzzy control, a fuzzy sliding mode controller is proposed for output tracking problem of mobile manipulators, which can not only maintain the advantages of fuzzy controller, but also decrease the chattering in sliding mode control.The effects that with outside interference the tracking error of mobile manipulators can quickly tend near zero and the chattering gets to weaken effectively by the fuzzy logic system are verified by simulation on wheeled mobile manipulators. And the result of fuzzy sliding mode controller is better than robust damping control algorithm. It demonstrates the effectiveness and superiority of the proposed method.