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
收藏
页码：167 / 171
页数：5
相关论文
共 50 条
  • [31] Sliding mode control with fuzzy adaptive perturbation compensator for 6-DOF parallel manipulator
    Park, MK
    Lee, MC
    Yoo, WS
    KSME INTERNATIONAL JOURNAL, 2004, 18 (04): : 535 - 549
  • [32] Sliding mode control with fuzzy adaptive perturbation compensator for 6-DOF parallel manipulator
    Min Kyu Park
    Min Cheol Lee
    Wan Suk Yoo
    KSME International Journal, 2004, 18 : 535 - 549
  • [33] Adaptive Fuzzy Backstepping Sliding Mode Control for a 3-DOF Hydraulic Manipulator with Nonlinear Disturbance Observer for Large Payload Variation
    Hoai Vu Anh Truong
    Duc Thien Tran
    Xuan Dinh To
    Kyoung Kwan Ahn
    Jin, Maolin
    APPLIED SCIENCES-BASEL, 2019, 9 (16):
  • [34] Design of a 3-DOF Parallel Hand-Controller
    Zhu, Chengcheng
    Song, Aiguo
    JOURNAL OF SENSORS, 2017, 2017
  • [35] Kinematic analysis of a new 3-DOF translational parallel manipulator
    Li, Yangmin
    Xu, Qingsong
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, VOL 6, PTS A-C, 2005, : 1015 - 1024
  • [36] Contour Error of the 3-DoF Hydraulic Translational Parallel Manipulator
    Dindorf, Ryszard
    Wos, Piotr
    TEROTECHNOLOGY, 2014, 874 : 57 - 62
  • [37] Loci of singular configurations of a 3-DOF spherical parallel manipulator
    Alici, G
    Shirinzadeh, B
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2004, 48 (2-3) : 77 - 91
  • [38] Design and Evaluation of Adaptive and Sliding Mode Control for a 3-DOF Delta Parallel Robot
    Azad, Faraz Abed
    Rahimi, Saeed
    Yazdi, Mohammad Reza Hairi
    Masouleh, Mehdi Tale
    2020 28TH IRANIAN CONFERENCE ON ELECTRICAL ENGINEERING (ICEE), 2020, : 901 - 907
  • [39] Identification of dynamic parameters of a 3-DOF RPS parallel manipulator
    Farhat, Nidal
    Mata, Vicente
    Page, Alvaro
    Valero, Francisco
    MECHANISM AND MACHINE THEORY, 2008, 43 (01) : 1 - 17
  • [40] Dynamic isotropic performance evaluation of a 3-DOF parallel manipulator
    Zhang B.
    Wang L.
    Wu J.
    Qinghua Daxue Xuebao/Journal of Tsinghua University, 2017, 57 (08): : 803 - 809
12345