基于Lyapunov稳定性的爬壁机器人路径跟踪双环滑模控制

针对爬壁机器人路径跟踪控制问题,提出一种双环滑模控制算法。该算法是以建立的爬壁机器人运动学模型为基础,设路径跟踪偏差信息为滑模切换函数,结合backstepping思想设计了控制率,通过Lyapunov函数验证其稳定性,实现了外环位置和内环姿态的准确跟踪。对于环境的不确定性,采用提高内环增益大于外环的方法解决。将设计的双环滑模控制器与一般滑模控制进行轨迹跟踪仿真比较,并对直线轨迹跟踪进行了实验验证,结果表明:本文设计的路径控制器能较快达到零误差跟踪,整个控制过程和过渡过程准确且平滑,所以该算法可有效提升爬壁机器人工作水平。

Path Tracking Double-loop Sliding Mode Control for Wall-climbing Robot Based on Lyapunov Stability

Aiming at the path tracking control problem of wall-climbing robot, this paper proposes a double-loop sliding mode control algorithm. The algorithm is based on the kinematics model of wall-climbing robot. The deviation information of path tracking is set as the sliding mode switching function. The control rate is designed with backstepping idea. The stability of the algorithm is verified by Lyapunov function. And last realized the accurate tracking of outer-loop position and inner-loop attitude. For the uncertainty of the environment, using the method of improving the inner gain is larger than the outer ring to solve. The designed double-loop sliding mode controller is compared with the general sliding mode control in trajectory tracking simulation, and the experimental verification of the linear trajectory tracking is carried out. The results show that the designed path controller can achieve zero error tracking faster, the whole control process and transition process are accurate and smooth, so the algorithm can effectively improve the working level of the wall-climbing robot.