Back-Stepping Fuzzy Adaptive Sliding Mode Trajectory Tracking Control for Wall-Climbing Robot

摘要

AbstractTo improve the robustness and control precision of trajectory tracking for the four-wheel-driven wall-climbing robot, a novel back-stepping adaptive fuzzy sliding mode control (BFASMC) is proposed in the paper. Firstly, in order to make the tracking error between the actual trajectory and the reference trajectory of the WCR approach zero, the kinematic controller is designed based on the back-stepping method. Then, the output of the kinematic controller is used as the auxiliary speed input of the dynamic controller. To reduce chattering and restrain the uncertain parameters of the WCR, an adaptive control and a fuzzy control are introduced into a back-stepping sliding mode control (BSMC) to form the proposed method. Finally, simulation is conducted to track the straight line and circle. The results show that the proposed method improves the control precision and stability, and reduces the chattering in the process of switching sliding surfaces effectively.