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Advances in Mechanical Engineering Volume 10 ,Issue 7 ,2018-07-01
A reduced-order approach to the adaptive fuzzy sliding mode control of the constrained manipulator
Research Article
Yanbing Liang 1 Heng Shi 1 Guangyuan Tian 1
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DOI:10.1177/1687814018786791
Received 2018-3-27, accepted for publication 2018-6-12, Published 2018-6-12
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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.

关键词

simulation;reduced order;adaptive fuzzy sliding mode control;non-ideal force;Constrained manipulator

授权许可

© The Author(s) 2018
This article is distributed under the terms of the Creative Commons Attribution 4.0 License (http://www.creativecommons.org/licenses/by/4.0/) which permits any use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access pages (https://us.sagepub.com/en-us/nam/open-access-at-sage).

图表

2-DOF robot with vertical constraint.

Gauss membership function.

The control scheme of the control system.

The angle and angular velocities tracking of the first link.

The angle and angular velocities tracking of the second link.

Tracking errors of the first link.

Tracking errors of the second link.

The control torques of the constrained manipulator.

The tracking and tracking error of the non-ideal constrained force.

Table 1.

通讯作者

Heng Shi.Xi’an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi’an, China.shiheng@opt.ac.cn

推荐引用方式

Yanbing Liang,Heng Shi,Guangyuan Tian. A reduced-order approach to the adaptive fuzzy sliding mode control of the constrained manipulator. Advances in Mechanical Engineering ,Vol.10, Issue 7(2018)

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