Parameter adaptive sliding mode trajectory tracking strategy with initial value identification for the swing in a...

Area of Science:

• Robotics
• Control Systems
• Hydraulic Engineering

Background:

• Trajectory tracking in hydraulic construction robots is challenging due to dynamic changes, particularly in the moment of inertia when handling objects.
• Existing estimation algorithms often struggle with the significant variations in moment of inertia during object manipulation.

Purpose of the Study:

• To develop a novel trajectory tracking strategy for a double actuated swing in a hydraulic construction robot.
• To address the inadequacy of current estimation algorithms for varying moments of inertia.
• To propose an effective initial value identification algorithm for the moment of inertia.

Main Methods:

• Establishment of a nonlinear hydraulic dynamics model for the double actuated swing.
• Design of a parameter adaptive sliding mode control strategy.
• Proposal of a novel initial value identification algorithm integrating a two-DOF robot gravity force identification method with stereo vision information.

Main Results:

• The developed parameter adaptive sliding mode control strategy enhances trajectory tracking performance.
• The novel initial value identification algorithm improves the accuracy of moment of inertia estimation.
• Simulations and experimental results validate the effectiveness of the proposed control scheme.

Conclusions:

• The novel trajectory tracking strategy offers improved performance for hydraulic construction robots.
• The integrated identification algorithm effectively handles significant changes in the moment of inertia.
• The study demonstrates a robust approach for enhancing robotic system performance in dynamic environments.