基于快速非奇异终端滑模的隧道工程车辆轨迹跟踪研究

针对工程车辆轨迹跟踪控制方法中存在的跟踪精度低、响应速度慢、易抖动等问题，提出了一种鲁棒的非奇异快速终端滑模控制方法。首先，建立工程车辆的运动学模型和位姿误差模型。考虑到传统终端滑模存在的奇异性问题，设计了积分型非奇异快速终端滑膜控制器，使系统误差在快速收敛的同时抑制了控制器的抖振。其次考虑到传统趋近律趋近速度慢等问题，基于反步法分别设计了线速度和角速度控制律，并选用fal函数和反双曲正弦函数组合来设计趋近律，提高了系统的稳定性和趋近速度并且削弱了滑模控制的抖振。最后在Matlab软件中和传统的非奇异终端滑模控制器控制效果进行对比实验仿真。实验结果表明，与传统的非奇异终端滑模控制器相比，本文提出的非奇异快速终端滑模控制策略在跟踪精度和不同运动的鲁棒性方面具有明显的优势。

Trajectory tracking of tunnel engineering vehicles based on non singular fast terminal sliding mode

Aiming at the problems of low tracking accuracy, slow response speed and easy jitter in the track tracking and control method of construction vehicles, a robust non singular fast terminal sliding mode control method is proposed. First, the kinematic model and posture error model of the construction vehicle are established. Considering the singularity problem of the traditional terminal sliding mode, an integral non-singular fast terminal sliding mode controller is designed, so that the system error can be quickly converged while suppressing the jitter of the controller. Secondly, considering the problems such as the slow approaching speed of the traditional approach law, the linear velocity and angular velocity control laws are designed based on the reverse footwork, and the combination of the fal function and the inverse hyperbolic sine function is selected to design the approach law, which improves the stability and approaching speed of the system and weakens the jitter vibration of the sliding mode control. Finally, the control effect of the traditional non-singular terminal sliding mode controller is compared and simulated in Matlab software. Experimental results show that compared with the traditional nonsingular terminal sliding mode controller, the nonsingular fast terminal sliding mode control strategy proposed in this paper has obvious advantages in tracking accuracy and robustness of different movements.