A polishing force control strategy for robot pneumatic end-effector based on adaptive sliding mode backstepping algorithm

In order to solve the end-effector force control response speed hysteresis and mechanical vibration problems caused by parameter perturbations and other disturbances during the processing of wind turbine blades by polishing robots, this paper proposes a robot pneumatic end-effector polishing force control strategy based on adaptive sliding mode backstepping algorithm. Based on the establishment of the mathematical model of the end-effector pneumatic system, a smooth and continuous sliding mode control law is adopted to solve the design conflict between sliding mode control theory and backstepping method, and to suppress output chattering in sliding mode control. By utilizing the insensitivity of the sliding mode control to the system model, the influence of matching disturbances on the system is eliminated. The non-matching disturbances of the known model are accurately compensated by backstepping control, and parameter uncertainty is effectively handled by adaptive control. Simulation and experimental results show that this method can effectively solve the uncertainty of system parameters and has good disturbance suppression ability, significantly improving the surface quality of wind turbine blades.