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7 基于非线性积分SMC-ILC的位置跟踪均方根误差

Fig.7 Root mean square error of position tracking based on nonlinear integral SMC-ILC