ADAPTIVE SLIDING MODE CONTROL METHOD for RECONFIGURABLE MODULAR ROBOTS under DYNAMIC CONSTRAINTS

At present, the robot's sliding mode control method has the poor effects of jitter suppression, trajectory tracking and adaptive performance, so it can't control the robot under dynamic constraints. On the basis of dynamic constraints, an adaptive sliding mode control method for reconfigurable modular robot is proposed. On the basis of kinematics and dynamics, the kinematics relationship between robot modules is established and by using Newton-Euler iterative equation, the dynamic model is e established too; RBF is used as the equivalent control to improve the adaptability of the method; the weight of the robot neural network is adjusted to improve the track tracking performance of the method; according to RBFNN, the gain method of sliding mode control for reconfigurable modular robot is adjusted to eliminate undesired jitter. The experimental results show that the proposed method has good effect of jitter suppression, high tracking performance and strong adaptive performance, and it can effectively control the robot under dynamic constraints. © 2020 Editura Politechnica. All rights reserved.