TY - GEN
T1 - Fuzzy-sliding mode control for flexible-joint manipulator based on friction compensation
AU - Ni, Fenglei
AU - Liu, Yechao
AU - Dang, Jin
PY - 2012
Y1 - 2012
N2 - For overcoming unknown external disturbance, the nonlinearity and uncertainty of the flexible joint manipulator, a novel robust controller is proposed based on fuzzy-sliding mode control and friction compensation. The fiction compensation based on model can effectively predict the friction amplitude and compensate the dynamic error. The external uncertain disturbance, nonlinear part of friction, parameters variation, modeling error and so on can be overcome by the fuzzy-sliding mode control. Experimental results on the platform of HIT four degrees of freedom flexible joint manipulator show that the proposed controller not only can realize good position tracking performance, independency to parameters fluctuation, but also have a strong anti-interference ability.
AB - For overcoming unknown external disturbance, the nonlinearity and uncertainty of the flexible joint manipulator, a novel robust controller is proposed based on fuzzy-sliding mode control and friction compensation. The fiction compensation based on model can effectively predict the friction amplitude and compensate the dynamic error. The external uncertain disturbance, nonlinear part of friction, parameters variation, modeling error and so on can be overcome by the fuzzy-sliding mode control. Experimental results on the platform of HIT four degrees of freedom flexible joint manipulator show that the proposed controller not only can realize good position tracking performance, independency to parameters fluctuation, but also have a strong anti-interference ability.
KW - Flexible joint
KW - Friction compensation
KW - Fuzzy-sliding mode control
KW - Manipulator
UR - https://www.scopus.com/pages/publications/84867617109
U2 - 10.1109/ICMA.2012.6285106
DO - 10.1109/ICMA.2012.6285106
M3 - 会议稿件
AN - SCOPUS:84867617109
SN - 9781467312776
T3 - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
SP - 1868
EP - 1873
BT - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
T2 - 2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
Y2 - 5 August 2012 through 8 August 2012
ER -