Adaptive Fuzzy Sliding-Mode Control of Robot and Simulation

被引：0
|
作者：
Niu, Huan [1 ]
Yang, Jie [1 ]
Chi, Jie-Ru [2 ]
机构：
[1] Qingdao Univ, Sch Elect Engn, 308 Ningxia Rd, Qingdao 266071, Shandong, Peoples R China
[2] Qingdao Univ, Sch Elect & Informat Engn, Qingdao, Shandong, Peoples R China
来源：
FUZZY SYSTEMS AND DATA MINING II | 2016年 / 293卷
关键词：
Joint Robot; fuzzy control; sliding-mode control; simulation;
D O I：
10.3233/978-1-61499-722-1-108
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Aiming at control method of 2-DOF joint robot, the 3D robot model is established in ADAMS firstly, and then dynamic equation of the robot is deduced by using the obtained parameters. And dynamic model is combined with control system model in MATLAB/Simulink by the ADAMS/Control module and is established coordinated simulation system. In order to eliminate the effect of the modeling error and uncertainty signal, a sliding-mode control is proposed. In this method, a linear sliding surface is used to ensure the system to reach equilibrium with the sliding surface in finite time; and fuzzy control is used to compensate for the modeling error and uncertainty signal. Equivalent control law and switching control law are derived by using Lyapunov stability criterion and exponential reaching law. Fuzzy control law and membership function are set up by using fuzzy control rules. Through online adaptive learning of fuzzy, buffeting is weakened. Simulation result shows that the control method is effective.
引用
收藏
页码：108 / 114
页数：7
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