Robust Sliding Mode Control of Cucumber Picking Robot Based on the Upper Bound Estimation

Wei Liu ； Yong-Feng Cui ； Zhong-Yuan Zhao

《Advance Journal of Food Science and Technology》 7卷3期 (2015/02) Pp. 177-182

並列摘要

In this study, a robust sliding mode control based on upper bound estimation was applied in position trajectory control of the fruit harvesting robot. It decomposes the manipulator dynamics equation into a constant unknown vector parameter and a known dynamic nonlinear (called the regression vector). This study based on regression design new sliding mode control law. The algorithm ensures the stability of the closed-loop system upper based on unknown upper bound estimation parameters. It shows from robustness analysis that when the system has the time-varying uncertainty, the closed loop system can still be stabilized.

並列關鍵字

Fruit harvesting robot ； food machinery ； numerical simulation ； robust control ； sliding mode control ； upper bound estimation