矿山重型履带式运输机器人的自适应鲁棒控制

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2025-07-23 DOI:10.1016/j.conengprac.2025.106494

Xihao Yan, Dongjie Wang, Aixiang Ma, Sihai Zhao

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引用次数: 0

摘要

针对井下履带式运输机器人的轨迹跟踪控制问题，提出了一种新型的履带式运输机器人轨迹跟踪控制器。从运动学和动力学两个角度建立了耦合模型。基于该耦合模型，设计了一种双层鲁棒自适应控制器。具有轨道滑移率和质心偏移参数自适应能力的上部几何控制器主要处理运动规划。下控制器处理由质心偏移和斜率条件引起的动态问题。数学证明证明了控制器和闭环系统的稳定性，保证了参数估计和跟踪误差的收敛性。仿真和实验结果验证了控制器的性能，与对照组相比，静态跟踪误差小于0.03 m，动态跟踪误差小于0.08 m。

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Adaptive robust control for heavy-duty tracked transportation robots in underground mines

This paper presents a novel trajectory tracking controller for underground tracked haulage robots, specifically addressing tracking control challenges caused by roadway slope conditions and center-of-mass offset states induced by auxiliary handling operations. A coupled vehicle model is established from both kinematic and dynamic perspectives. Based on this coupled model, a dual-layer robust adaptive controller is designed. The upper geometric controller with adaptive capabilities for track slip rate and center-of-mass offset parameters primarily handles kinematic planning. The lower controller addresses dynamic issues arising from mass-center offset and slope conditions. Mathematical proofs demonstrate the stability of both controllers and the closed-loop system, ensuring convergence of parameter estimation and tracking errors. Simulation and experimental results verify the controller performance, showing static tracking errors below 0.03 m and dynamic tracking errors under 0.08 m when compared to control groups.

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.