现代制造工程Issue(12)：61-68,8.DOI:10.16731/j.cnki.1671-3133.2024.12.008
轮式移动工业机器人非奇异终端滑模轨迹跟踪控制
Non-singular terminal sliding mode trajectory tracking control for wheeled mobile industrial robot
摘要
Abstract
Regarding the impact of uncertainty caused by internal and external disturbances on trajectory tracking accuracy of wheeled mobile industrial robots,a non-singular terminal sliding mode trajectory tracking control method was proposed.Firstly,the dynamic model and trajectory tracking error model of wheeled mobile industrial robot were established.Then,an extended state observer was designed to estimate the uncertainty in the system,and a non-singular terminal sliding mode control law was de-signed to suppress the influence of disturbances on the control system through real-time compensation of uncertainty,achieving high-precision control for the motion trajectory of wheeled mobile industrial robots.Finally,the stability analysis was conducted u-sing Lyapunov theory.The simulation results show that the designed extended state observer can accurately estimate the uncer-tainty in the system,and the maximum errors of estimation are only 0.02 m/s and 0.03 rad/s separately.The designed non-singu-lar terminal sliding mode control law has higher tracking accuracy and stronger robustness compared to the extended Kalman con-trol method and the integral sliding surface control method,the maximum error of trajectory tracking is only 0.04 m.The test re-sults verifiy that the proposed control method meets the design expectations,the maximum error of trajectory tracking is only 0.07 m,which can ensure that the wheeled mobile industrial robot can more accurately track the desired trajectory.关键词
轮式移动工业机器人/轨迹跟踪/内外扰动/模型误差/扩张状态观测器/非奇异终端滑模Key words
wheeled mobile industrial robot/trajectory tracking/internal and external disturbances/model error/expansion state observer/non-singular terminal sliding mode分类
信息技术与安全科学引用本文复制引用
靳俊霞,王彩玲,于峰..轮式移动工业机器人非奇异终端滑模轨迹跟踪控制[J].现代制造工程,2024,(12):61-68,8.基金项目
河南省科技攻关项目(242102210088) （242102210088）
