Decentralized adaptive fuzzy sliding, mode control for reconfigurable modular manipulators

被引：71
|
作者：
Zhu, Mingchao [1 ]
Li, Yuanchun [1 ]
机构：
[1] Jilin Univ, Dept Control Sci & Eng, Changchun 130022, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2010年 / 20卷 / 04期
关键词：
reconfigurable modular manipulators; decentralized control; adaptive control; fuzzy control; sliding mode control; ROBOT MANIPULATORS; ROBUST-CONTROL; SYSTEMS;
D O I：
10.1002/rnc.1444
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A stable decentralized adaptive fuzzy sliding mode control scheme is proposed for reconfigurable modular manipulators to satisfy the concept of modular software. For the development of the decentralized control. the dynamics Of reconfigurable modular manipulators, is represented as a set of interconnected subsystems. A first-order Takagi-Sugeno fuzzy logic system is introduced to approximate the unknown dynamics of subsystem by Using adaptive algorithm. The effect of interconnection term and fuzzy approximation error is removed by employing an adaptive sliding mode controller. All adaptive algorithms in file subsystem controller are derived from (lie sense of Lyapunov stability analysis, so that resulting closed-loop system is stable and the trajectory tracking performance is guaranteed. The simulation results are presented to show the effectiveness of the proposed decentralized control scheme. Copyright (C) 2009 John Wiley & Sons. Ltd.
引用
收藏
页码：472 / 488
页数：17
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