Electric shovel trajectory tracking with inversion sliding mode based on Lyapunov functions

The harsh actual working environment and heavy weight of the electric shovel pose a great challenge to its trajectory tracking performance. Taking into account the strong robustness and anti-interference performance of the sliding mode control method and the global stability of the inversion control method, a Lyapunov-based inversion sliding mode trajectory tracking method is proposed in this paper, and its effectiveness is verified through numerical simulation based on the electromechanical coupling dynamic model of the electric shovel and the actual electric shovel tracking experiment. The results show that the trajectory tracking method can effectively realize the trajectory tracking of the electric shovel accompanied by tracking deviation within 0.3 m. The existence of the track slip phenomenon makes the electric shovel shake when steering, which also makes the actual operating velocity of the electric shovel fluctuate greatly. Meanwhile, the steering process of the electric shovel is accompanied by a regenerative braking steering mode.