Non-singular terminal sliding mode trajectory tracking control for wheeled mobile industrial robot
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.
wheeled mobile industrial robottrajectory trackinginternal and external disturbancesmodel errorexpansion state observernon-singular terminal sliding mode
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