Title :
A robust adaptive fuzzy sliding mode control method of 3-RRRT parallel manipulator
Author :
Liu, Yanbin ; Jia, Xinjie ; Han, Jianhai ; Zhao, Xinhua
Author_Institution :
Sch. of Mechatronical Eng., Univ. of Sci. & Technol., Luoyang, China
Abstract :
A direct adaptive fuzzy sliding mode control strategy for a 3-RRRT parallel manipulator is presented and actualized. According to its system dynamics character, and on the base of Lyapunov´s stability theory, using fuzzy logic system with adaptive technology, a direct adaptive Fuzzy sliding mode control strategy is put forward and actualized, and then control system numerical simulation is completed by using MATLAB software platform, and the simulation results show that in case of periodic interferential signal, employing direct adaptive Fuzzy sliding mode control strategy, the 3-RRRT parallel manipulator attain higher path tracking precision, its closed-loop system revealed great adaptability and robustness.
Keywords :
Lyapunov methods; adaptive control; closed loop systems; fuzzy control; manipulator dynamics; robust control; variable structure systems; 3-RRRT parallel manipulator; Lyapunov stability theory; MATLAB software platform; closed-loop system; control system numerical simulation; fuzzy logic system; path tracking precision; periodic interferential signal; robust adaptive fuzzy sliding mode control method; system dynamics character; Adaptive control; Adaptive systems; Fuzzy control; Fuzzy logic; Fuzzy systems; Lyapunov method; Manipulator dynamics; Programmable control; Robust control; Sliding mode control; Parallel manipulator; adaptive technology; fuzzy logic control; path tracking control; sliding mode control;
Conference_Titel :
Automation and Logistics, 2009. ICAL '09. IEEE International Conference on
Conference_Location :
Shenyang
Print_ISBN :
978-1-4244-4794-7
Electronic_ISBN :
978-1-4244-4795-4
DOI :
10.1109/ICAL.2009.5262652
