Cooperative control of sliding mode for mobile manipulators

Abstract

This article describes the design and implementation of a centralized cooperative control algorithm of mobile manipulators (mobile differential platform manipulator and an omnidirectional platform manipulator) for the execution of diverse tasks in which the participation of two or more robots is necessary, e.g., the handling or transport of objects of a high weight, keeping a platform level at a fixed height, among others. For this, a sliding mode control technique is used that is applied to a fixed operating point located in a virtual line that is generated between the end effectors of the manipulator arms. For the validation of the proposed controller, the stability criterion of Lyapunov will be used and the simulation will be performed to validate the performance and performance of the proposed controller between two heterogeneous manipulators.