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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2004.4
- 수록면
- 535 - 549 (15page)
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초록· 키워드
오류제보하기
This paper proposes a sliding mode controller with fuzzy adaptive perturbation compensator (FAPC) to get a good control performance and reduce the chatter. The proposed algorithm can reduce the chattering because the proposed fuzzy adaptive perturbation compensator compensates perturbation terms. The compensator computes the control input for compensating un modeled dynamic terms and disturbance by using the observer-based fuzzy adaptive network (FAN). The weighting parameters of the compensator are updated by on-line adaptive scheme in order to minimize the estimation error and the estimation velocity error of each actuator. Therefore, the combination of sliding mode control and fuzzy adaptive network gives the robust and intelligent routine to get a good control performance. To evaluate the control performance of the proposed approach, tracking control is experimentally carried out for the hydraulic motion platform which consists of a 6-DOF parallel manipulator.
목차
Abstract
1. Introduction
2. Modelling of 6-DOF Parallel Manipulator
3. Sliding Mode Control with Fuzzy Adaptive Perturbation Compensator
4. Simulation And Experiment
5. Conclusion
Acknowledgment
References
참고문헌 (21)
참고문헌 신청
[학술지(정기간행물)] - / 1997 / A Fuzzy-Sliding Mode Controller for Robust Tracking of Robotic Manipulators 7 (2) : 199 ~ 216
[학술지(정기간행물)] - / 1992 / Sliding Mode Control with Perturbation Estimator International Journal of Control 56 : 923 ~ 941
[학술지(정기간행물)] - / 1987 / A Microprocessor-Based Robot Manipulator Control with Sliding Mode 34 (1) : 11 ~ 18
[학술지(정기간행물)] - / 1990 / Robot Manipulator Control using Decentralized Time-Invariant Time-Delayed Controller : 2070 ~ 2075
[학술지(정기간행물)] - / 1997 / Neuro-Fuzzy and Soft Computing
[학술지(정기간행물)] - / 1992 / Sliding Mode Control with Perturbation Estimator International Journal of Control 56 : 923 ~ 941
[학술지(정기간행물)] - / 1987 / A Microprocessor-Based Robot Manipulator Control with Sliding Mode 34 (1) : 11 ~ 18
[학술지(정기간행물)] - / 1990 / Robot Manipulator Control using Decentralized Time-Invariant Time-Delayed Controller : 2070 ~ 2075
[학술지(정기간행물)] - / 1997 / Neuro-Fuzzy and Soft Computing
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UCI(KEPA) : I410-ECN-0101-2009-550-014052797