Motion Control System of an Infrastructure Robot Based on Sliding Mode Control

Sliding mode control is a control concept that appears in the controlled system for a class of control problems with unknown disturbances and upper bounds on the disturbances. In response to the accuracy requirements of infrastructure, this paper proposes an infrastructure robot using sliding mode control. The main tasks are as follows: 1. The structure of infrastructure robot is introduced; 2. Sliding mode controller is designed and the reachability of the sliding mode through the Lyapunov method is demonstrated; 3. Simulation experiments based on Matlab is built. Through simulation experiments, it is demonstrated that the working accuracy of robots using sliding mode control is significantly improved.