Title :
The design of sliding mode controller with perturbation observer for a 6-DOF parallel manipulator
Author :
Park, Min Kyu ; Lee, Min Cheol ; Go, Seok Jo
Author_Institution :
Graduate Sch. of Mech. & Intelligent Syst. Eng., Pusan Nat. Univ., South Korea
Abstract :
This study proposes the sliding mode controller with perturbation observer for a 6-DOF parallel manipulator in the presence of nonlinear and uncertainty terms. The controller is based on a Lyapunov approach and the perturbation observer is based on the fuzzy adaptive network. This observer utilizes the control input for compensating unmodeled dynamics terms and disturbance. And, the weighting parameters of the fuzzy adaptive network are updated online by adaptive law in order to force the estimation errors to converge to zero. Therefore, the combination of sliding mode control and fuzzy adaptive network gives rise to the robust and intelligent routine. For evaluating the control performance of the proposed approach, tracking control simulation is carried out for a 6-DOF parallel manipulator
Keywords :
Lyapunov methods; adaptive control; control system analysis; control system synthesis; fuzzy control; manipulators; nonlinear control systems; observers; robust control; uncertain systems; variable structure systems; 6-DOF parallel manipulator; Lyapunov approach; control performance; disturbance compensation; fuzzy adaptive network; nonlinear uncertain terms; perturbation observer; sliding mode controller design; tracking control simulation; unmodeled dynamics terms compensation; Adaptive control; Adaptive systems; Estimation error; Fuzzy control; Intelligent networks; Manipulator dynamics; Programmable control; Robust control; Sliding mode control; Uncertainty;
Conference_Titel :
Industrial Electronics, 2001. Proceedings. ISIE 2001. IEEE International Symposium on
Conference_Location :
Pusan
Print_ISBN :
0-7803-7090-2
DOI :
10.1109/ISIE.2001.931928
