Design of Adaptive Sliding Mode Controller for Demolition Robot Based on Disturbance Observer
Year: 2024
Type: conference-paper
Abstract: In response to the growing demand for intelligent demolition robots capable of executing unmanned operations in high-risk environments, this study introduces a sliding mode control framework enhanced by adaptive laws and integrated disturbance observers. The proposed approach integrates Denavit-Hartenberg (D-H) kinematic modeling with spatial analysis techniques, the correspondence between the trajectory space of the robot arm and its driving space was established. Afterwards, a nonlinear model was developed that takes into account the characteristics of valve controlled asymmetric hydraulic cylinders; these components serve as actuators for robotic systems. To address oscillation mitigation and guarantee ultra-precision tracking control for end-effector trajectories, an adaptive sliding mode controller (ASMC) framework has been formulated with integrated real-time perturbation compensation mechanisms. Through rigorous Lyapunov-based stability analysis, the proposed architecture demonstrates provable global convergence characteristics with asymptotically stable equilibrium points. Finally, joint simulations conducted using AMESim and MATLAB validate that this algorithm delivers high control accuracy and robust performance in the presence of external disturbances.
Authors: Mingxing Yang, Shuai Yang, Xing Zhang, Qingyun Liu
Institution: Anhui University of Technology
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
OpenAlex ID: W4412524716