Steel structure flexible flaw detection robot trajectory tracking method based on improved reaching law sliding mode control

The invention discloses a steel structure flexible flaw detection robot trajectory tracking method based on improved reaching law sliding mode control. The method comprises the steps: establishing kinematic models and error models of front and rear vehicle bodies of the flexible flaw detection robot based on coordinate transformation and non-integrity constraints; establishing a constraint model of the flexible flaw detection robot steel belt based on an Euler Bernoulli beam theory; obtaining the linear velocity and the angular velocity of the expected tracking trajectory according to the constraint model; introducing a sliding mode surface based on a sliding mode control theory; improving and designing the sliding mode surface reaching law to obtain a sliding mode controller of the linearspeed and the angular speed of the robot; and taking the linear speed and the angular speed of the expected tracking trajectory as the input of the sliding mode controller to obtain the linear speedand the angular speed cont