The Excavating Robot's Adaptive Fuzzy Sliding Mode Control

摘要

Aiming at the trajectory tracking control and the parameter uncertainty of the excavating robot's working device, the dynamic equation of the excavating robot's working device is established. An adaptive fuzzy sliding mode variable structure control is developed and the control law consists of three components: an equivalent control, a switching control and a tuning control. By introducing an adaptive fuzzy parameter to continuously approximate sliding mode controller, the robustness to the uncertainty of the control system is enhanced, the chattering of the sliding mode control is weakened and it has strong adaptive tracking ability. The controller developed is simulated by the toolbox of Matlab7.0/Simulink and the tracking performance and error of the adaptive fuzzy sliding mode control is presented.