A pipeline inspection robot is the under-actuated differential mobile robot that operates in drainage pipes and highway drainage channels.To improve its motion control performance affected by complex environmental disturbance in actual environments,a sliding mode self-disturbance rejection control method with inner and outer loops is proposed.Firstly,the complex environmental disturbances affecting the pipeline are analyzed and decoupled into lateral and longitudinal disturbances.Based on this,a kinematic model under the disturbance conditions is established.According to the ideal kinematic model,an outer loop sliding mode controller is built to obtain the ideal control law.Additionally,according to the disturbance kinematic model,a state observer based on the extend-ed state is established to observe the environmental disturbance value.Then,an inner loop sliding mode controller is built to correct the outer loop ideal control law by using the observed values.The Lyapunov stability principle is used to analyze the system,Finally,the Matlab Simulink model of the system is constructed for the simulation verification.The results demonstrate that the proposed method has a strong robustness and motion control performance.
关键词
复杂环境干扰/管沟机器人/欠驱动差分机移动器人/扩张状态观测器/内外环滑模控制
Key words
complex environment interference/pipeline inspection robot/under-actuated differential mobile robot/extended state observer/inner-outer loop sliding mode control
维普
万方数据