A Path Tracking Control Method for Pipeline Engineering Robots
In order to improve the path tracking accuracy of pipeline engineering robot in field environment,the steering characteristics of pipeline engineering robot under sideslip disturbance were studied,and a kinematic model based on sliding condition was established.An improved synovial observer was proposed to estimate the sliding param-eters of the robot.The Genetic algorithm was used to optimize the gain coefficient of the synovial observer,which makes the estimation result more accurate.In addition,an improved Receding Horizon Control was proposed to dis-cretize both nonlinear and linear terms in the model to reduce the difficulty of calculation.The experimental results show that the proposed RHC path tracking control strategy based on slip parameter estimation can track the target path quickly and accurately with better tracking accuracy.
Pipeline engineering robotSliding mode observerGenetic algorithmReceding horizon controlPath following
NETL
NSTL
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