Research on Trajectory Tracking Control for New Digging Robot Based on ACO-AFSMC

The mobility and adaptability of excavation operation need to be improved to change the degree of efficiency in some special environments. In this paper, we propose a digging robot and a robot controller to optimize solutions. The digging robot is structurally divided into four modules. The drive and construction solutions of the individual modules are determined to meet the functional and safety requirements. An adaptive fuzzy sliding mode controller based on ant colony optimization algorithm (ACO-AFSMC) enables the trajectory tracking control of the robot. Specifically, the optimization problem is mathematically modeled by ant colony optimization algorithm, and the objective function is designed to achieve the control effect. After iterative optimization, the results converge to the optimal path. Experiments prove that the ACO-AFSMC controller has good control performance and tracking accuracy.