双框架飞机蒙皮检测机器人切换运动控制方法

doi:10.7527/S1000-6893.2014.0260

Abstract

Abstract:

Aimed at an aircraft skin detection robot with double frames, by analyzing force of the robot when it is on the plane surface, the robot is subject to nonholonomic constraints. Dynamic model with nonholonomic constraints of the robot is built based on Newton-Euler rules. The nonholonomic robot system can be divided into subsystem A and subsystem B based on robot mechanical structure and motion gaits. In order to realize motions of the robot on the plane surface, a combination of backstepping technique and fast Terminal sliding mode control for designing the subsystem controller is presented and an backstepping-sliding mode control method is proposed; as for nonholonomic robot two-systems, a dual system switching control algorithm is given based on event-driven switching law. Finally global asymptomic tracking of robot toward expected trace is realized. The system tracking error convergenve is proof by using Lyapunov stability. Simulations and tests show that using the switching control algorithm and backstepping-sliding mode control method, the aircraft skin detection robot with double frame scan turns and crawls on plane surface freely and detects the damage. And a good reliability and stability is obtained.

Key words: skin detection robot with double frames, dynamic model, backstepping technology, fast terminal sliding mode control, switch strategy

CLC Number:

V19
TP242

SHEN Guipeng, WANG Congqing, WANG Qi. Switching motion control of an aircraft skin detection robot with double frames[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(6): 2064-2073.

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Switching motion control of an aircraft skin detection robot with double frames

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