Robust Hierarchical Sliding Mode Control of Double-frame Mobile Robot with Suction Cups*

Xingkai Feng, Congqing Wang
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Abstract

In this paper, a novel double-frame mobile robot with suction cups for aircraft skin inspection is studied. A robust hierarchical sliding mode (RHSM) scheme is presented to ensure the state stabilization of the robot system. Initially, the double-frame robot moving on the curved surface is analyzed, the nonholonomic constraint equations are established, and the dynamic model of the mobile double-frame robot is derived through Lagrange method. Then, a RHSM controller is designed, including a hierarchical sliding mode controller for sliding motor, rotating motor and leg cylinder, and an observer for estimating the total uncertainty. It is shown that the system is closed-loop stable, and the system variables are asymptotically stable. Simulation section is given to illustrate the effectiveness of the RHSM method proposed in this paper.
带吸盘的双框架移动机器人的鲁棒分层滑模控制
研究了一种新型的带吸盘的双框架飞机蒙皮检测移动机器人。为了保证机器人系统的状态稳定,提出了一种鲁棒分层滑模(RHSM)方案。首先对在曲面上运动的双框架机器人进行了分析,建立了非完整约束方程,并通过拉格朗日方法推导了移动双框架机器人的动力学模型。然后,设计了一种RHSM控制器,包括滑动电机、旋转电机和腿筒的分层滑模控制器,以及用于估计总不确定性的观测器。证明了系统是闭环稳定的,系统变量是渐近稳定的。仿真部分说明了本文提出的RHSM方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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