文章基本信息

标题：Robust Sliding Mode Control of Cucumber Picking Robot Based on the Upper Bound Estimation
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作者：Wei Liu ; Yongfeng Cui ; Zhongyuan Zhao 等
期刊名称：Advance Journal of Food Science and Technology
印刷版ISSN：2042-4868
电子版ISSN：2042-4876
出版年度：2015
卷号：7
期号：3
页码：177-182
出版社：MAXWELL Science Publication
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.
关键词：Fruit harvesting robot ; food machinery ; numerical simulation ; robust control ; sliding mode control ; upper bound estimation