| In a complex marine environment,cage intelligent cleaning robots’ own sensingability and means of external monitoring has a huge difference compared to robotsworking on the land. However,intelligent motion control technology is the core ofcage intelligent cleaning robots’ research focus and applications.When cage intelligentcleaning robot is under navigation and operation, achieving precise motion control ofcage intelligent cleaning robot has become an urgent clean-up problems in cageintelligent robot control technology research by its modeling uncertainties andexternal disturbances.In this paper, the laboratory has independently developed open-frame cageintelligent cleaning robot as research subjects. Because of nonlinear, strong couplingand the uncertainty of the characteristics of the control system, we discuss the variablestructure control method applied in cage intelligent cleaning robot motion control andin different conditions, design the corresponding motion controller.Mathematical model of the cage intelligent cleaning robot is a typical nonlinearsystem model. Firstly, we establish a dynamic model of the six degrees of freedomabout cage intelligent cleaning robot, and accordingly simply the model based on theactual working conditions. Then we design sliding inversion tracking controller andadaptive sliding tracking controller in the ideal case and in the disturbance. By usingMATLAB/Simulink, we build a trajectory tracking control simulation platform ofthe cage intelligent cleaning robot in movement control simulation in order to testtrajectory tracking performance of the controller design.Simulation results show that the controller is able to achieve the position andtrajectory tracking quickly and accurately. Thus, the simulation verify the feasibilityof simplified mathematical model and the designed sliding mode controller in motioncontrol system. |
PDF Full Text Request