A fuzzy sliding mode control strategy is proposed to solve the problem that the reaction force generated by the high-frequency impact of the drill bit on the object during the operation of the demolition robot affects the control accuracy of the end pose.Firstly,based on the concept of equivalence,the reaction force is considered as an interference term and introduced into the dynamic equation of the dismantling arm frame;secondly,the fuzzy controller is introduced based on the traditional sliding mode controller to compensate the disturbance and improve the control quality of the system;then,the stability of the system was proved by combining Lyapunov's theorem;finally,a system model under reactive interference force was built for simulation,verifying the effectiveness and superiority of the control strategy proposed in this paper.
关键词
破拆机器人/反作用干扰力/末端位姿/模糊滑模控制
Key words
demolition robot/reactive interference force/end pose/fuzzy sliding mode control
维普
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