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A reduced-order approach to the adaptive fuzzy sliding mode control o the constrained manipulator
Liang, Yanbing; Shi, Heng; Tian, Guangyuan
作者部门光电测量技术实验室
2018-07-19
发表期刊ADVANCES IN MECHANICAL ENGINEERING
ISSN1687-8140
卷号10期号:7
产权排序1
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Constrained Manipulator Non-ideal Force Adaptive Fuzzy Sliding Mode Control Reduced Order Simulation
DOI10.1177/1687814018786791
收录类别SCI
语种英语
WOS记录号WOS:000444569700001
出版者SAGE PUBLICATIONS LTD
引用统计
文献类型期刊论文
条目标识符http://ir.opt.ac.cn/handle/181661/30640
专题光电测量技术实验室
通讯作者Shi, Heng
作者单位Chinese Acad Sci, Xian Inst Opt & Precis Mech, Xian 710119, Shaanxi, Peoples R China
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GB/T 7714
Liang, Yanbing,Shi, Heng,Tian, Guangyuan. A reduced-order approach to the adaptive fuzzy sliding mode control o the constrained manipulator[J]. ADVANCES IN MECHANICAL ENGINEERING,2018,10(7).
APA Liang, Yanbing,Shi, Heng,&Tian, Guangyuan.(2018).A reduced-order approach to the adaptive fuzzy sliding mode control o the constrained manipulator.ADVANCES IN MECHANICAL ENGINEERING,10(7).
MLA Liang, Yanbing,et al."A reduced-order approach to the adaptive fuzzy sliding mode control o the constrained manipulator".ADVANCES IN MECHANICAL ENGINEERING 10.7(2018).
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