This paper presents a non-singular terminal sliding mode control (NTSMC) design based on an improved extended state observer (IESO) with application to an omnidirectional mobile manipulator (OMM) for trajectory tracking control. Firstly, a unified dynamic model is derived based on Lagrange method for an OMM prototype. An IESO that can reduce the initial peaking phenomenon is applied to estimate the model uncertainties and external disturbances. Then a non-singular terminal sliding mode controller is applied for trajectory tracking control. Stability of the closed-loop system is analyzed using Lyapunov theory. Finally, both simulations and experimental tests verify the effectiveness of the proposed control scheme.

本文提出了一种基于改进扩展状态观测器 (IESO) 的非奇异终端滑模控制 (NTSMC) 设计，并应用于全向移动机械手 (OMM) 以进行轨迹跟踪控制。首先，基于拉格朗日方法为OMM原型推导出统一的动力学模型。可以减少初始峰化现象的 IESO 被用于估计模型的不确定性和外部干扰。然后应用非奇异终端滑模控制器进行轨迹跟踪控制。使用李雅普诺夫理论分析闭环系统的稳定性。最后，仿真和实验测试验证了所提出的控制方案的有效性。