Time Delay Estimation Based PD Sliding Mode Control of Hybrid Robot for Automobile Electro-Coating Conveying

摘要

A time delay estimation-based PD-sliding mode control method is proposed to implement high performance trajectory tracking control for a hybrid robot used for automobile electro-coating conveying. First, to exempt the difficulty of real-time dynamic control from calculations of hybrid robot dynamics equations due to its complex mechanism, the time delay estimation-based dynamic model is established by linearizing the dynamic model with time delay estimation technology. Then, a sliding mode control method for the hybrid robot based on time delay estimation-based linearized dynamic model is presented for solving the problem of time delay estimation errors and overcoming the external interferences dramatically. Moreover, the calculation on system dynamics of sliding mode control for the hybrid robot is avoided by substituting the PD control item for the equivalent item of sliding mode control. Lyapunov stability theorem is used to prove the stability of the proposed control law. Finally, the PD control and the proposed control method for the hybrid robot are simulated by MATLAB, and the experiment is carried out on the prototype. The results demonstrate that the proposed control method is independent of complex dynamic model which could avoid the calculation on system dynamics of sliding mode control for the hybrid robot, and it could realize high-accuracy trajectory tracking control compared to PD control under external disturbances.