Title :
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.
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;
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
DOI :
10.1109/ISSCAA.2006.1627480
