An integral variable structure controller with fuzzy tuning design for electro-hydraulic driving Stewart platform

Author

Wu, Bo ; Dong, Yanlang ; Wu, Shenglin ; Xu, Dongguang ; Zhao, Keding

Author_Institution

Dept. of Mech. & Electron. Eng., Harbin Inst. of Technol.

fYear

2006

fDate

19-21 Jan. 2006

Lastpage

945

Abstract

This paper presents a novel robust sliding mode controller with fuzzy tuning for Stewart platform servo system, which suffers from high nonlinear dynamics and serious load coupling among channels. The controller consists of an equivalent control to assign desired dynamics to the closed-loop system, a switching control to guarantee a sliding mode, and a fuzzy control to enhance fast tracking and attenuate chattering. To verify the potential and effectiveness of the proposed controller, simulations and experiments are made. The results demonstrate its strong robustness against a large range of parameters variations and load disturbance and its capability of restraining the serious load coupling among channels and improving the trajectories tracking performance

Keywords

aerospace control; closed loop systems; electrohydraulic control equipment; fuzzy control; nonlinear dynamical systems; servomechanisms; tracking; variable structure systems; Stewart platform; chattering attenuation; closed-loop system; electro-hydraulic driving; fuzzy control; fuzzy tuning; integral variable structure controller; load coupling; load disturbance; nonlinear dynamics; parameters variations; servo system; sliding mode controller; switching control; trajectories tracking; Control systems; Couplings; Electric variables control; Fuzzy control; Fuzzy systems; Nonlinear control systems; Nonlinear dynamical systems; Robust control; Servomechanisms; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems and Control in Aerospace and Astronautics, 2006. ISSCAA 2006. 1st International Symposium on

Conference_Location

Harbin

Print_ISBN

0-7803-9395-3

Type

conf

DOI

10.1109/ISSCAA.2006.1627480

Filename

1627480