Trajectory tracking control method and system of wall building robot

• Main Authors: ZHENG ZECHENG, WANG CHAOHUI, SHI QINGYI, WU PENGMIN, ZHOU ZIYANG, LEI BIN, KE XILIN
• Format: Patent
• Language: Chinese; English
• Published: 30.04.2024
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention provides a trajectory tracking control method and system for a wall building robot, and belongs to the field of trajectory tracking, and the method comprises the steps: S1, constructing a robot dynamic model and a cement mortar viscoelastic model, and setting an expected planning trajectory; s2, estimating the robot dynamic model and the cement mortar viscoelastic model by adopting a recursive fuzzy wavelet neural network to obtain uncertain items; s3, performing trajectory tracking by adopting non-singular fast terminal sliding mode control to obtain an actual motion track, and calculating a trajectory tracking error; s4, estimating a trajectory tracking error by adopting a robust control method, and compensating the error to obtain an actual trajectory tracking control method; and S5, the position of the wall building robot is adjusted according to an actual trajectory tracking control method. According to the method, the recursive fuzzy wavelet neural network is utilized to estimate uncertain