@ARTICLE{Galicki_M._Optimal_2019, author={Galicki, M.}, volume={67}, number={No. 4}, journal={Bulletin of the Polish Academy of Sciences Technical Sciences}, pages={777-788}, howpublished={online}, year={2019}, abstract={The paper addresses optimal control problem of mobile manipulators. Dynamic equations of those mechanisms are assumed herein to be uncertain. Moreover, unbounded disturbances act on the mobile manipulator whose end-effector tracks a desired (reference) trajectory given in a task (Cartesian) space. A computationally efficient class of two-stage cascaded (hierarchical) control algorithms based on both the transpose Jacobian matrix and transpose actuation matrix, has been proposed. The offered control laws involve two kinds of non-singular terminal sliding mode (TSM) manifolds, which were also introduced in the paper. The proposed class of cooperating sub-controllers is shown to be finite time stable by fulfilment of practically reasonable assumptions. The performance of the proposed control strategies is illustrated on an exemplary mobile manipulator whose end-effector tracks desired trajectory.}, type={Artykuły / Articles}, title={Optimal sliding control of mobile manipulators}, URL={http://czasopisma.pan.pl/Content/113671/PDF/11_777-788_01133_Bpast.No.67-4_30.08.19_TeX.pdf}, doi={10.24425/bpasts.2019.130187}, keywords={mobile manipulator, trajectory tracking, finite time control}, }