Double Hyperbolic Sliding Mode Control Based on Unscented Kalman Filter for Three-legged Mobile manipulator

In this paper, mathematical and 3D modeling of a three-legged robotic arm capable of moving objects in rough terrain is first presented. Then, considering the noise and environment disturbances, a suitable control method is proposed. Controlling this robot because of its nonlinear dynamics and the presence of disturbances and environmental effects is a very important and complex issue. Therefore, the controller should be able to set the robot in the right position as quickly as possible and eliminate the effect of environmental disturbances and noise on the system response. Accordingly, in this paper, a Double Hyperbolic Sliding Mode Control based on Unscented Kalman Filter is developed for a three-legged mobile manipulator and system stability is proved by Lyapunov theory. In the proposed controller design, while considering the disturbance term in the dynamic model of the system, an Unscented Kalman Filter is used to reduce the noise effect, which improves the robustness of the system under severe conditions. Finally, the performance of the proposed controller is compared with the inverse dynamic controller and the integral sliding mode control on the robotic system. The results show faster operation speed and accuracy in the system response.