Abstract

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.

Keywords:

Fruit harvesting robot, food machinery, numerical simulation, robust control, sliding mode control, upper bound estimation,

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Competing interests

The authors have no competing interests.

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The authors have no competing interests.