A dynamic sliding mode controller is devised to achieve output tracking of the mobile manipulator that consists of a mobile platform which has two driving wheels and a two-link manipulator arm.

• 本文针对由二轮驱动的移动平台和二连杆机械臂组成的移动机械臂的输出跟踪问题,利用滑模控制原理为其设计了动态滑模控制器。