工程设计学报2025，Vol.32Issue(6)：803-812,10.DOI:10.3785/j.issn.1006-754X.2025.05.118
基于改进SMC与ILC的泳池清洁机器人轨迹跟踪控制
Trajectory tracking control of swimming pool cleaning robot based on improved SMC and ILC
摘要
Abstract
Aiming at the problem that the swimming pool cleaning robot deviates from the predetermined trajectory due to external interference and steering slip when performing tasks,a trajectory tracking control method based on improved sliding mode control(SMC)and iterative learning control(ILC)is proposed.It aims to improve the trajectory tracking accuracy of robots under slip interference.Firstly,the kinematics and dynamics models of the robot were established,and slip parameters were introduced to characterize the influence of slip interference.Then,the robustness of the robot control system was enhanced by combining SMC,and a nonlinear integral sliding mode surface adapted to slip interference was designed.Meanwhile,the ILC was used to further improve the trajectory tracking accuracy.Finally,by using the PD(proportional-derivative)type closed-loop ILC control law as the feedback,the stability and convergence of the designed nonlinear integral SMC-ILC controller in the presence of slip interference were proved through theoretical analysis.The simulation results showed that compared with the traditional PID(proportional-integral-derivative)control,the nonlinear integral SMC-ILC had significant advantages in trajectory tracking accuracy and robustness.The experimental results verified the effectiveness of the designed controller in practical swimming pool cleaning robot applications,which could achieve precise trajectory tracking under external interference and slip interference,thereby improving cleaning efficiency.The research results provide a new solution for the intelligent control of swimming pool cleaning robots and offer theoretical basis and practical support for trajectory tracking control in related fields.关键词
滑模控制/泳池清洁机器人/迭代学习控制/轨迹跟踪Key words
sliding mode control/swimming pool cleaning robot/iterative learning control/trajectory tracking分类
机械制造引用本文复制引用
唐军,许海琳,张少文..基于改进SMC与ILC的泳池清洁机器人轨迹跟踪控制[J].工程设计学报,2025,32(6):803-812,10.基金项目
国家自然科学基金资助项目(52465010) （52465010）
江西省自然科学基金面上项目(20224BAB204047) （20224BAB204047）
