| 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
 |
| ISSN | 1687-8140 |
| 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 |
| DOI | 10.1177/1687814018786791 |
| 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 | 光电跟踪与测量技术研究室 |
| 通讯作者 | Shi, Heng |
| 作者单位 | Chinese Acad Sci, Xian Inst Opt & Precis Mech, Xian 710119, Shaanxi, Peoples R China |
| 推荐引用方式 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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| 文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
| A reduced-order appr（884KB） | 期刊论文 | 出版稿 | 限制开放 | CC BY-NC-SA | 请求全文 | |
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