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Author:

Zhao Yongsheng (Zhao Yongsheng.) (Scholars:赵永胜) | Liu Zhifeng (Liu Zhifeng.) (Scholars:刘志峰) | Cai Ligang (Cai Ligang.) (Scholars:蔡力钢) | Yang Wentong (Yang Wentong.)

Indexed by:

CPCI-S EI Scopus

Abstract:

This paper presents an enhanced fuzzy sliding mode controller (EFSMC) for improving the tracking performance of 3-DOF Parallel link manipulator, in which the fuzzy logic system is adopted as the adaptation mechanism to tune the gain of the sliding mode controller. The EFSMC can drive the state variables of 3-DOF Parallel link manipulator to hit a user -defined sliding surface quickly and slide along it. The sliding and global stability conditions are formulated and analyzed in terms of Lyapunov full quadratic form. To meet the real-time requirement of the parallel link manipulator, the region -wise linear technology is introduced to reduce the fuzzy rules of the EFSMC. The simulation results have shown that the proposed controller can achieve a higher performance with minimum reaching time and smooth control actions. In addition, it shows that the controller is effective and robust to the parametric variation and external disturbance.

Keyword:

Sliding mode control Fuzzy control 3-DOF Parallel link manipulator

Author Community:

  • [ 1 ] [Zhao Yongsheng]Beijing Univ Technol, Sch Mech Engn & Appl Elect Technol, Beijing, Peoples R China
  • [ 2 ] [Liu Zhifeng]Beijing Univ Technol, Sch Mech Engn & Appl Elect Technol, Beijing, Peoples R China
  • [ 3 ] [Cai Ligang]Beijing Univ Technol, Sch Mech Engn & Appl Elect Technol, Beijing, Peoples R China
  • [ 4 ] [Yang Wentong]Beijing Univ Technol, Sch Mech Engn & Appl Elect Technol, Beijing, Peoples R China

Reprint Author's Address:

  • 赵永胜

    [Zhao Yongsheng]Beijing Univ Technol, Sch Mech Engn & Appl Elect Technol, Beijing, Peoples R China

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Source :

2010 2ND INTERNATIONAL ASIA CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS (CAR 2010), VOL 2

ISSN: 1948-3414

Year: 2010

Page: 167-171

Language: English

Cited Count:

WoS CC Cited Count: 0

SCOPUS Cited Count: 2

ESI Highly Cited Papers on the List: 0 Unfold All

WanFang Cited Count:

Chinese Cited Count:

30 Days PV: 0

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