Research on Sliding Mode Robust Control Method for Terminal of Electric Power Inspection Robot Arm
The power inspection manipulator system usually has strong nonlinearity and uncertainty,including load change,friction,swing and other factors.These nonlinearities and uncertainties affect the stability of the control system,which makes it difficult for the traditional control design methods to achieve accurate control,and there are some errors.Therefore,a sliding mode robust control method for power in-spection robot arm is proposed.The power inspection robot arm is projected to the Cartesian coordinate system to obtain the position and pose information of the end actuator of the robot arm,which is used as the parameter of the sliding mode controller.The control law of the sliding mode controller of the robot arm is constructed by combining the fuzzy adaptive algorithm and the Lyapunov algorithm to obtain the control signal.The Radial Basis Function(RBF)network is used to approach the uncertain term,its control law is obtained,and the robust control results of the RBF network are output according to the robust term.Experiments show that the proposed method can realize accurate operation control of the power inspection robot arm while avoiding the manipulator jitter caused by unknown disturbance.The joint angle control er-ror is small,the response is fast,and the overshoot is low.
synovial controllerfuzzy adaptive algorithmLyapunov algorithmRBF networkapproxi-mation of uncertain terms
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