{"title":"带吸盘的双框架移动机器人的鲁棒分层滑模控制","authors":"Xingkai Feng, Congqing Wang","doi":"10.1109/CAC51589.2020.9326550","DOIUrl":null,"url":null,"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.","PeriodicalId":430085,"journal":{"name":"2020 Chinese Automation Congress (CAC)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Robust Hierarchical Sliding Mode Control of Double-frame Mobile Robot with Suction Cups*\",\"authors\":\"Xingkai Feng, Congqing Wang\",\"doi\":\"10.1109/CAC51589.2020.9326550\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":430085,\"journal\":{\"name\":\"2020 Chinese Automation Congress (CAC)\",\"volume\":\"26 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2020-11-06\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2020 Chinese Automation Congress (CAC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CAC51589.2020.9326550\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 Chinese Automation Congress (CAC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CAC51589.2020.9326550","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Robust Hierarchical Sliding Mode Control of Double-frame Mobile Robot with Suction Cups*
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.