A robust adaptive fuzzy sliding mode control method of 3-RRRT parallel manipulator

Author

Liu, Yanbin ; Jia, Xinjie ; Han, Jianhai ; Zhao, Xinhua

Author_Institution

Sch. of Mechatronical Eng., Univ. of Sci. & Technol., Luoyang, China

fYear

2009

fDate

5-7 Aug. 2009

Firstpage

1883

Lastpage

1887

Abstract

A direct adaptive fuzzy sliding mode control strategy for a 3-RRRT parallel manipulator is presented and actualized. According to its system dynamics character, and on the base of Lyapunov´s stability theory, using fuzzy logic system with adaptive technology, a direct adaptive Fuzzy sliding mode control strategy is put forward and actualized, and then control system numerical simulation is completed by using MATLAB software platform, and the simulation results show that in case of periodic interferential signal, employing direct adaptive Fuzzy sliding mode control strategy, the 3-RRRT parallel manipulator attain higher path tracking precision, its closed-loop system revealed great adaptability and robustness.

Keywords

Lyapunov methods; adaptive control; closed loop systems; fuzzy control; manipulator dynamics; robust control; variable structure systems; 3-RRRT parallel manipulator; Lyapunov stability theory; MATLAB software platform; closed-loop system; control system numerical simulation; fuzzy logic system; path tracking precision; periodic interferential signal; robust adaptive fuzzy sliding mode control method; system dynamics character; Adaptive control; Adaptive systems; Fuzzy control; Fuzzy logic; Fuzzy systems; Lyapunov method; Manipulator dynamics; Programmable control; Robust control; Sliding mode control; Parallel manipulator; adaptive technology; fuzzy logic control; path tracking control; sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation and Logistics, 2009. ICAL '09. IEEE International Conference on

Conference_Location

Shenyang

Print_ISBN

978-1-4244-4794-7

Electronic_ISBN

978-1-4244-4795-4

Type

conf

DOI

10.1109/ICAL.2009.5262652

Filename

5262652