Title :
Robust tracking control of 4-SPS(PS) type parallel manipulator via adaptive fuzzy logic approach
Author :
Zhu Dachang ; Jinbao, Cai ; Yuefa, Fang
Author_Institution :
Coll. of Mech. & Electr. Control Eng., Jiangxi Univ. of Sci. & Technol., Ganzhou
Abstract :
The dynamic behavior of electro-hydraulic driven parallel manipulators is highly nonlinear system, the nonlinear behavior arising from load friction as well as the valve flow-pressure drop relationship. This paper is concerned with the robust tracking control of electro-hydraulic driven parallel manipulators with the model uncertainties. An adaptive fuzzy controller is used to estimate the uncertainties of electro-hydraulic system, including the payload variation and stiffness etc. Adaptive fuzzy logic and adaptive backstepping method are employed to provide the solution to the control problem. Simulation results from a electro-hydraulic driven 4-SPS (PS) type parallel manipulator demonstrate its strong robustness against a large of parameters variations and load disturbance and its capability of the trajectories tracking performance.
Keywords :
adaptive control; electrohydraulic control equipment; fuzzy control; manipulators; nonlinear control systems; robust control; valves; adaptive backstepping method; adaptive fuzzy controller; adaptive fuzzy logic approach; electrohydraulic driven parallel manipulators; load friction; nonlinear system; parallel manipulator; robust tracking control; robustness; valve flow-pressure drop; Adaptive control; Friction; Fuzzy logic; Manipulator dynamics; Nonlinear dynamical systems; Nonlinear systems; Programmable control; Robust control; Uncertainty; Valves; adaptive fuzzy logic approach; electro-hydraulic servo mechanisms; parallel manipulator;
Conference_Titel :
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location :
Hanoi
Print_ISBN :
978-1-4244-2286-9
Electronic_ISBN :
978-1-4244-2287-6
DOI :
10.1109/ICARCV.2008.4795576
