A reduced-order approach to the adaptive fuzzy sliding mode control o the constrained manipulator
文献类型：期刊论文
| 作者 | Liang, Yanbing; Shi, Heng; Tian, Guangyuan |
| 刊名 | ADVANCES IN MECHANICAL ENGINEERING
 |
| 出版日期 | 2018-07-19 |
| 卷号 | 10期号:7 |
| 关键词 | Constrained Manipulator Non-ideal Force Adaptive Fuzzy Sliding Mode Control Reduced Order Simulation |
| ISSN号 | 1687-8140 |
| DOI | 10.1177/1687814018786791 |
| 产权排序 | 1 |
| 英文摘要 | 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. |
| 语种 | 英语 |
| WOS记录号 | WOS:000444569700001 |
| 出版者 | SAGE PUBLICATIONS LTD |
| 源URL | [http://ir.opt.ac.cn/handle/181661/30640]  |
| 专题 | 西安光学精密机械研究所_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 |
| 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). |
入库方式： OAI收割
来源：西安光学精密机械研究所
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