Enhanced Fuzzy Sliding Mode Controller for a 3-DOF Parallel Link Manipulator

被引：0

作者：

Zhao Yongsheng ^{[1
]}

Liu Zhifeng ^{[1
]}

Cai Ligang ^{[1
]}

Yang Wentong ^{[1
]}

机构：

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

来源：

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

关键词：

Fuzzy control; Sliding mode control; 3-DOF Parallel link manipulator; ROBOT;

D O I：

10.1109/CAR.2010.5456576

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：167 / 171

页数：5

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