中文摘要：

为实现移动机械臂的输出跟踪控制，设计了一种动态滑模控制器．文中首先给出了包括驱动电机动态特性的移动机械臂简化动态模型，然后通过微分同胚和非线性输入变换将系统分解为4个低阶子系统，并给出了用于移动机械臂输出跟踪的动态滑模控制器的设计方法．仿真结果表明，所设计的动态滑模控制器不仅能很好地跟踪给定轨迹，而且能有效地削弱滑模控制系统的抖振．

英文摘要：

A dynamical sliding-mode controller is devised to track the output of mobile manipulators. During the investigation, a reduced dynamic model considering the dynamics of the driving motor is first developed for mobile manipulators. Then, the system is decomposed into four lower-dimension subsystems by means of diffeomorphism and nonlinear input transformation. Moreover, a design method of the dynamical sliding-mode controller applied to the output tracking of mobile manipulators is proposed. The simulation results indicate that the dynamical slidingmode controller can not only track the given trajectory correctly but also reduce the chattering of sliding-mode control systems considerably.