A reduced-order approach to the adaptive fuzzy sliding mode control o the constrained manipulator

doi:10.1177/1687814018786791

CORC > 西安光学精密机械研究所 > 中国科学院西安光学精密机械研究所 > 光电测量技术实验室

	A reduced-order approach to the adaptive fuzzy sliding mode control o the constrained manipulator
	Liang, Yanbing; Shi, Heng; Tian, Guangyuan
刊名	ADVANCES IN MECHANICAL ENGINEERING
	2018-07-19
卷号	10 期号:7
关键词	Constrained Manipulator Non-ideal Force Adaptive Fuzzy Sliding Mode Control Reduced Order Simulation
ISSN号	1687-8140
DOI	10.1177/1687814018786791
产权排序	1
英文摘要	A reduced-order approach to the adaptive fuzzy sliding mode control of the constrained manipulator is proposed. Based on the Udwadia-Kalaba motion constraint equation, the dynamic equation of the constrained manipulator with both ideal and non-ideal constraints is obtained. Considering the uncertainty of the terminal non-ideal constrained force and the chattering phenomenon of sliding mode control, the adaptive fuzzy and the sliding mode control method are combined to control the constrained manipulator. Because the system is constrained, the model order reduction method is innovatively used in the control algorithm. The stability of the system is proved by Lyapunov theorem. For demonstrating the effectiveness of the control algorithm, the 2-degree-of-freedom manipulator is taken as the research object. Finally, the high-precision control of the manipulator is achieved and the chattering phenomenon caused by the sliding mode control is weakened.
语种	英语
出版者	SAGE PUBLICATIONS LTD
WOS记录号	WOS:000444569700001
内容类型	期刊论文
源URL	[http://ir.opt.ac.cn/handle/181661/30640]
专题	西安光学精密机械研究所_光电测量技术实验室
通讯作者	Shi, Heng
作者单位	Chinese Acad Sci, Xian Inst Opt & Precis Mech, Xian 710119, Shaanxi, Peoples R China
推荐引用方式 GB/T 7714	Liang, Yanbing,Shi, Heng,Tian, Guangyuan. A reduced-order approach to the adaptive fuzzy sliding mode control o the constrained manipulator[J]. ADVANCES IN MECHANICAL ENGINEERING,2018,10(7).
APA	Liang, Yanbing,Shi, Heng,&Tian, Guangyuan.(2018).A reduced-order approach to the adaptive fuzzy sliding mode control o the constrained manipulator.ADVANCES IN MECHANICAL ENGINEERING,10(7).
MLA	Liang, Yanbing,et al."A reduced-order approach to the adaptive fuzzy sliding mode control o the constrained manipulator".ADVANCES IN MECHANICAL ENGINEERING 10.7(2018).