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.

中文翻译：

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基于Lyapunov函数的反滑模电铲轨迹跟踪

电铲实际工作环境恶劣、重量较大，对其轨迹跟踪性能提出了巨大挑战。考虑到滑模控制方法的强鲁棒性和抗干扰性能以及反演控制方法的全局稳定性，本文提出了一种基于Lyapunov的反演滑模轨迹跟踪方法，并通过数值验证了其有效性。基于电铲机电耦合动力学模型的仿真和实际电铲跟踪实验。结果表明，该轨迹跟踪方法能够有效实现电铲的轨迹跟踪，跟踪偏差在0.3 m以内。履带打滑现象的存在使得电铲在转向时出现抖动，也使得电铲的实际作业速度波动较大。同时，电铲的转向过程伴随着再生制动转向模式。