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Predefined-Time Super-Twisting Sliding Mode Control for Construction Robot with Arbitrary Initial Values.

Hong-Bo Ai1, Xin-Rong He1, Chun-Wu Yin2

  • 1Design and Research Institute Co., Ltd., Xi'an University of Architecture and Technology, Xi'an 710055, China.

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Summary
This summary is machine-generated.

This study introduces a new control scheme for construction robots, enhancing trajectory tracking precision. The novel controller ensures robots accurately follow reference paths, improving overall performance and efficiency in construction tasks.

Keywords:
construction robotfluid materialpredefined time controlradial basis functionsuper-twisting sliding mode control

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Artificial Intelligence

Background:

  • Construction robots face challenges in precisely tracking reference trajectories due to complex operational environments.
  • Existing control methods may not fully address the dynamic and uncertain nature of construction robot systems.

Purpose of the Study:

  • To develop an advanced control scheme for precise trajectory tracking in construction robots.
  • To design a novel super-twisting sliding mode controller with predefined-time convergence.
  • To address the influence of fluid materials and composite disturbances on robot control.

Main Methods:

  • Exploration of fluid material influence and trajectory tracking control features for construction robots.
  • Design of an extended reference trajectory and a nonsingular sliding surface with predefined-time convergence.
  • Development of a Radial Basis Function (RBF) neural network for approximating system disturbances.
  • Implementation of a super-twisting sliding mode controller based on predefined-time convergent control theory.

Main Results:

  • The proposed controller guarantees accurate movement of construction robot angles along the reference trajectory.
  • Achieved angular tracking error precision of 3 × 10-6 rad.
  • Theoretical validation of the closed-loop system's predefined-time convergence performance.

Conclusions:

  • The developed control scheme and controller are feasible and effective for precise trajectory tracking in construction robots.
  • The method significantly enhances the accuracy and reliability of construction robot operations.
  • This research contributes to advancing autonomous capabilities in the construction industry.