基于改进SMC与ILC的泳池清洁机器人轨迹跟踪控制

唐军,许海琳,张少文

Trajectory tracking control of swimming pool cleaning robot based on improved SMC and ILC

Jun TANG,Hailin XU,Shaowen ZHANG

图2 泳池清洁机器人受力示意

Fig.2 Force diagram of swimming pool cleaning robot