Parameter adaptive sliding mode trajectory tracking strategy with initial value identification for the swing in a hydraulic construction robot.
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ABSTRACT:
SUBMITTER: Hou JW
PROVIDER: S-EPMC10090183 | biostudies-literature | 2023 Apr
REPOSITORIES: biostudies-literature
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Parameter adaptive sliding mode trajectory tracking strategy with initial value identification for the swing in a hydraulic construction robot.
Hou Jing-Wei JW Ni Tao T Zhang Zhu-Xin ZX
Scientific reports 20230411 1
A novel trajectory tracking strategy is developed for a double actuated swing in a hydraulic construction robot. Specifically, a nonlinear hydraulic dynamics model of a double actuated swing is established, and a parameter adaptive sliding mode control strategy is designed to enhance the trajectory tracking performance. When an object is grabbed and unloaded, the moment of inertia of a swing considerably changes, and the performance of the estimation algorithm is generally inadequate. Thus, it i ...[more]
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