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Abstract
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Article Information:
Robust Sliding Mode Control of Cucumber Picking Robot Based on the Upper Bound Estimation
Wei Liu, Yongfeng Cui and Zhongyuan Zhao
Corresponding Author: Yongfeng Cui
Submitted: August 22, 2014
Accepted: September 22, 2014
Published: February 05, 2015 |
Abstract:
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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.
Key words: Fruit harvesting robot, food machinery, numerical simulation, robust control, sliding mode control, upper bound estimation,
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Cite this Reference:
Wei Liu, Yongfeng Cui and Zhongyuan Zhao, . Robust Sliding Mode Control of Cucumber Picking Robot Based on the Upper Bound Estimation. Advance Journal of Food Science and Technology, (3): 177-182.
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ISSN (Online): 2042-4876
ISSN (Print): 2042-4868 |
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