机械与电子2026，Vol.44Issue(8)：65-72,8.
考虑质心偏置的水射流清洗机器人行走部RBF自适应滑模控制
RBF Adaptive Sliding Mode Control for the Locomotion Unit of a Water-jet Cleaning Robot Considering Centroid Offset
摘要
Abstract
This paper addresses the challenge of kinematic pose drift and excessive steady-state trajec-tory tracking error in water-jet cleaning robots operating under unstructured chemical conditions such as high salt spray,strong turbulence,and stubborn dirt layers.These problems arise because the misalignment between the center of mass and geometric center introduces nonholonomic constraints,causing strong per-turbations in dynamic parameters,coupling between abrupt load variations and water-jet recoil-induced vibration.To solve this,an RBF adaptive sliding mode control method considering centroid offset is pro-posed.First,a dynamic model of the locomotion unit is established based on the characteristics of the non-holonomic constraints under centroid offset.Second,a baseline sliding mode controller is designed,and its asymptotic stability is proven using a Lyapunov function.Finally,a radial basis function(RBF)neural net-work is introduced to approximate the lumped system uncertainties,and a minimal parameter learning method is incorporated to simplify the weight update law into a single-parameter adaptive regulation,thus constructing an improved adaptive sliding mode controller.This approach reduces the computational bur-den while enhancing robustness against nonholonomic constraints and severe operating disturbances.Ex-perimental results demonstrate that the maximum control error for the desired pose is less than 0.6 cm,and the trajectory tracking adheres more closely to the optimal cleaning path.The pose overshoot and oscil-lation are significantly suppressed,effectively improving the trajectory tracking accuracy and driving stabil-ity of the robot.关键词
水射流清洗机器人/行走部驱动控制/RBF神经网络/运动学模型/自适应滑模控制器Key words
water-jet cleaning robot/driving control of locomotion unit/RBF neural network/kinemat-ic model/adaptive sliding mode controller分类
信息技术与安全科学引用本文复制引用
朱赛伟..考虑质心偏置的水射流清洗机器人行走部RBF自适应滑模控制[J].机械与电子,2026,44(8):65-72,8.基金项目
河南送变电建设有限公司科技项目(SGTYHT/23-JS-003) （SGTYHT/23-JS-003）
