Fuzzy sliding mode control for positioning flexible link manipulators

Xue Feng Dai; Li Ning Sun; He Gao Cai

Fuzzy sliding mode control for positioning flexible link manipulators

Xue Feng Dai^*
, Li Ning Sun
, He Gao Cai

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Contribution to journal › Article › peer-review

2 Scopus citations

Abstract

A novel joint control scheme with fuzzy adaptation is proposed for a two-link flexible manipulator with macro/micro drivers. A prototype of sliding mode control for joint angles positioning is synthesized on the basis of rigid dynamics, and it was modified by a fuzzy reasoning rule table established on joint errors and trends of sliding mode function's entries. To prevent overshoot in plant response, the adjusting coefficient matrix was proposed. Simulations results conducted on the whole model show that the set point trajectory tracking is attainable and with negligible residual vibrations.

Original language	English
Pages (from-to)	148-150
Number of pages	3
Journal	Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology
Volume	37
Issue number	2
State	Published - Feb 2005

Keywords

Flexible link manipulators
Fuzzy control
Position control
Sliding mode control

Cite this

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title = "Fuzzy sliding mode control for positioning flexible link manipulators",

abstract = "A novel joint control scheme with fuzzy adaptation is proposed for a two-link flexible manipulator with macro/micro drivers. A prototype of sliding mode control for joint angles positioning is synthesized on the basis of rigid dynamics, and it was modified by a fuzzy reasoning rule table established on joint errors and trends of sliding mode function's entries. To prevent overshoot in plant response, the adjusting coefficient matrix was proposed. Simulations results conducted on the whole model show that the set point trajectory tracking is attainable and with negligible residual vibrations.",

keywords = "Flexible link manipulators, Fuzzy control, Position control, Sliding mode control",

author = "Dai, \{Xue Feng\} and Sun, \{Li Ning\} and Cai, \{He Gao\}",

year = "2005",

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language = "英语",

volume = "37",

pages = "148--150",

journal = "Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology",

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T1 - Fuzzy sliding mode control for positioning flexible link manipulators

AU - Dai, Xue Feng

AU - Sun, Li Ning

AU - Cai, He Gao

PY - 2005/2

Y1 - 2005/2

N2 - A novel joint control scheme with fuzzy adaptation is proposed for a two-link flexible manipulator with macro/micro drivers. A prototype of sliding mode control for joint angles positioning is synthesized on the basis of rigid dynamics, and it was modified by a fuzzy reasoning rule table established on joint errors and trends of sliding mode function's entries. To prevent overshoot in plant response, the adjusting coefficient matrix was proposed. Simulations results conducted on the whole model show that the set point trajectory tracking is attainable and with negligible residual vibrations.

AB - A novel joint control scheme with fuzzy adaptation is proposed for a two-link flexible manipulator with macro/micro drivers. A prototype of sliding mode control for joint angles positioning is synthesized on the basis of rigid dynamics, and it was modified by a fuzzy reasoning rule table established on joint errors and trends of sliding mode function's entries. To prevent overshoot in plant response, the adjusting coefficient matrix was proposed. Simulations results conducted on the whole model show that the set point trajectory tracking is attainable and with negligible residual vibrations.

KW - Flexible link manipulators

KW - Fuzzy control

KW - Position control

KW - Sliding mode control

UR - https://www.scopus.com/pages/publications/17244374248

M3 - 文章

AN - SCOPUS:17244374248

SN - 0367-6234

VL - 37

SP - 148

EP - 150

JO - Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology

JF - Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology

IS - 2

ER -

Fuzzy sliding mode control for positioning flexible link manipulators

Abstract

Keywords

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