Nonlinear fuzzy adaptive backstepping sliding mode control for mechanical legs on unmanned robot

被引：0
|
作者：
Chen G. [1 ]
Zhang J. [1 ]
Li X. [2 ]
Zhang W. [2 ]
机构：
[1] School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing
[2] School of Instrument Science and Engineering, Southeast University, Nanjing
来源：
Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) | 2020年 / 50卷 / 03期
关键词：
Friction disturbance; Fuzzy adaptive backstepping sliding mode control; Nonlinear disturbance observer; Unmanned robot;
D O I：
10.3969/j.issn.1001-0505.2020.03.021
中图分类号：
学科分类号：
摘要：
To accurately track the position of mechanical legs for unmanned robot and improve the tracking accuracy of the vehicle speed, a fuzzy adaptive backstepping sliding mode control method based on the nonlinear disturbance observer was proposed to deal with the non-linear disturbance to the mechanical legs. First, a kinematics model of mechanical legs was established by analyzing the position and the motion of the mechanical leg mechanism when it operated the pedal. The dynamics model of mechanical legs considering the non-linear friction of the motion pair was constructed. The relation between the friction moment and the relative velocity of the joint of the mechanical legs was described, and the friction parameters were obtained. Then, a throttle/brake mechanical leg switching controller and a non-linear disturbance observer were designed. Finally, a fuzzy adaptive backstepping sliding mode controller was designed for the observation error and other uncertain disturbances, and the Lyapunov stability was analyzed. The experimental results show that the method can effectively reduce the chattering of the control output, and the maximum tracking error of the mechanical leg position is reduced from 5.5×10-2 rad to 1.1×10-3 rad, and the maximum speed tracking error is reduced from 2.21 km/h to 1.91 km/h, compared with the case without the friction compensation. The fuzzy adaptive backstepping sliding mode control method based on the disturbance observer can improve the tracking accuracy of the mechanical legs and the tracking accuracy of the vehicle speeds. © 2020, Editorial Department of Journal of Southeast University. All right reserved.
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页码：570 / 579
页数：9
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