TY - GEN
T1 - Discrete sliding mode control with fuzzy adaptive reaching law on 6-PRRS parallel robot
AU - Zhao, Jie
AU - Yang, Yonggang
AU - Liu, Yubin
AU - Lin, Fuguo
PY - 2006
Y1 - 2006
N2 - Applying distributed control strategy, a discrete sliding mode controller(DSMC) with fuzzy adaptive reaching law is proposed to tracking the trajectory of 6-PRRS parallel robot. The detailed design procedure of the DSMC system with fuzzy adaptive reaching law is presented. The disturbances prediction, which guarantees the stability of the control system, is developed. In order to attenuate the chattering phenomena, reaching law is actively tuned according fuzzy rule. Simulation study has been carried out to evaluate the performance of the proposed controller, and the results showed that the proposed controller has achieved a performance with minimum reaching time and smooth control actions. In addition, the results have also proven the effectiveness and robustness of the trajectory tracking of parallel robot characterized under disturbances and parameter uncertainties.
AB - Applying distributed control strategy, a discrete sliding mode controller(DSMC) with fuzzy adaptive reaching law is proposed to tracking the trajectory of 6-PRRS parallel robot. The detailed design procedure of the DSMC system with fuzzy adaptive reaching law is presented. The disturbances prediction, which guarantees the stability of the control system, is developed. In order to attenuate the chattering phenomena, reaching law is actively tuned according fuzzy rule. Simulation study has been carried out to evaluate the performance of the proposed controller, and the results showed that the proposed controller has achieved a performance with minimum reaching time and smooth control actions. In addition, the results have also proven the effectiveness and robustness of the trajectory tracking of parallel robot characterized under disturbances and parameter uncertainties.
KW - Discrete sliding mode control fuzzy adaptive reaching rate
KW - Parallel robot
UR - https://www.scopus.com/pages/publications/34547513617
U2 - 10.1109/ISDA.2006.253913
DO - 10.1109/ISDA.2006.253913
M3 - 会议稿件
AN - SCOPUS:34547513617
SN - 0769525288
SN - 9780769525280
T3 - Proceedings - ISDA 2006: Sixth International Conference on Intelligent Systems Design and Applications
SP - 649
EP - 652
BT - Proceedings - ISDA 2006
T2 - ISDA 2006: Sixth International Conference on Intelligent Systems Design and Applications
Y2 - 16 October 2006 through 18 October 2006
ER -