A Walking Trajectory Tracking Control Based on Uncertainties Estimation for a Drilling Robot for Rockburst Prevention

A walking trajectory tracking control approach for a walking electrohydraulic control system is developed to reduce the walking trajectory tracking deviation and enhance robustness. The model uncertainties are estimated by a designed state observer. A saturation function is used to attenuate sliding...

Full description

Saved in:
Bibliographic Details
Published in:Machines (Basel) 2024-05, Vol.12 (5), p.298
Main Authors: Gu, Jinheng, He, Shicheng, Dai, Jianbo, Wei, Dong, Yan, Haifeng, Tan, Chao, Wang, Zhongbin, Si, Lei
Format: Article
Language:English
Subjects:
coal mine drilling robot for rockburst prevention
Coal mines
Coal mining
Control algorithms
Control systems
Controllers
Drilling
Drilling and boring
Electric control
Hydraulic control
Hydraulics
Kinematics
Observability (systems)
Robot dynamics
Robots
Robustness
Rockbursts
Sliding mode control
state observer
State observers
Tracking control
Trajectory control
Uncertainty
walking electrohydraulic control system
walking trajectory tracking control
Citations: Items that this one cites
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:A walking trajectory tracking control approach for a walking electrohydraulic control system is developed to reduce the walking trajectory tracking deviation and enhance robustness. The model uncertainties are estimated by a designed state observer. A saturation function is used to attenuate sliding mode chattering in the designed sliding mode controller. Additionally, a walking trajectory tracking control strategy is proposed to improve the walking trajectory tracking performance in terms of response time, tracking precision, and robustness, including walking longitudinal and lateral trajectory tracking controllers. Finally, simulation and experimental results are employed to verify the trajectory tracking performance and observability of the model uncertainties. The results testify that the proposed approach is better than other comparative methods, and the longitudinal and lateral trajectory tracking average absolute errors are controlled in 10.23 mm and 22.34 mm, respectively, thereby improving the walking trajectory tracking performance of the walking electrohydraulic control system for the coal mine drilling robot for rockburst prevention.
ISSN:2075-1702
2075-1702
DOI:10.3390/machines12050298