Motion control on the working device of a demolition robot based on an exponential reaching law

被引：1
|
作者：
Ye, Ye [1 ,2 ]
Cen, Yuwan [2 ]
Xie, Nenggang [2 ]
机构：
[1] Hefei Univ Technol, Sch Mech & Automot Engn, Hefei 23009, Peoples R China
[2] Anhui Univ Technol, Sch Mech Engn, Maanshan 243002, Peoples R China
来源：
PROCEEDINGS 2015 IEEE FIFTH INTERNATIONAL CONFERENCE ON BIG DATA AND CLOUD COMPUTING BDCLOUD 2015 | 2015年
关键词：
GTRC-15 Demolition Robot; working device; the exponential reaching law;
D O I：
10.1109/BDCloud.2015.43
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
For the first arm of a GTRC-15 Demolition Robot, this paper uses a sliding mode variable structure controller to control the movement of the working device based on the exponential reaching law. The simulation results show that under the unit step signal, the steady-state error and stability of the system based on the exponential reaching law are better than these performances based on the traditional PID control strategy, which demonstrates this method is effective.
引用
收藏
页码：335 / 337
页数：3
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