Adaptive Sliding Mode Control with Disturbance Observer for Trajectory Tracking of Robotic Milling

被引：0

作者：

Zhou, Hexiang ^{[1
]}

Zhai, Junyong ^{[1
]}

机构：

[1] Southeast Univ, Sch Automat, Nanjing 210096, Peoples R China

来源：

PROCEEDINGS OF 2023 CHINESE INTELLIGENT SYSTEMS CONFERENCE, VOL III | 2023年

关键词：

Robotic milling; Trajectory tracking; Adaptive sliding mode; Disturbance observer;

D O I：

10.1007/978-981-99-6886-2_55

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This article examines the trajectory tracking of a robotic manipulator in the milling process, considering periodic machining disturbances and parameter uncertainties. Anonlinear disturbance observer is employed to estimate and compensate for milling disturbance, and an adaptive practical sliding mode control method is designed to achieve fast and accurate control. The switching gain is adaptively adjusted to ensure strong global robustness, while the boundary layer is utilized for chattering avoidance. The proposed method's performance and superiority are validated through simulations of a six-link manipulator moving along the desired milling trajectory.

引用

页码：643 / 652

页数：10