Adaptive Fuzzy Sliding Mode Control for Hydraulic Servo System of Parallel Robot
نویسندگان
چکیده
The hydraulic servo control system, which is the important component of parallel robot, is a high order, nonlinear, dynamic asymmetry, parameter uncertain system, which seriously affect dynamic performance of robot, so it is very difficult to gain good performance with traditional control. Based on sliding mode variable structure control method combined with fuzzy control and adaptive control, an adaptive fuzzy sliding mode control algorithm was presented by taking the Stewart platform servo control system of parallel robot as the research object, and the uncertain term of the sliding mode controller was approximated with adaptive fuzzy control method. The simulation results showed that compared with the conventional PID control applied to the same hydraulic control system, the new controller has a strong robustness, good traceability with regard to model uncertainties, unknown external disturbances and changes in the operation conditions, as well as much better adaptive characteristics. The simulation results also showed that the adaptive fuzzy sliding mode control system can solve the dynamic asymmetrical performance and poor stability of parallel robot, and can greatly improve the robot control precision.
منابع مشابه
Adaptive fuzzy sliding mode and indirect radial-basis-function neural network controller for trajectory tracking control of a car-like robot
The ever-growing use of various vehicles for transportation, on the one hand, and the statistics ofsoaring road accidents resulting from human error, on the other hand, reminds us of the necessity toconduct more extensive research on the design, manufacturing and control of driver-less intelligentvehicles. For the automatic control of an autonomous vehicle, we need its dynamic...
متن کاملIntelligent Pitch Control for a 2MW Wind Turbine
The objective of the paper is to develop a novel intelligent pitch control system of a 2MW wind turbine driven by variable-speed hydraulic pump-controlled system. For realizing the intelligent pitch controller, self-organizing fuzzy sliding mode control, which combines fuzzy sliding mode control and self-organizing modifier, is proposed. In order to verify the proposed concept experimentally, a...
متن کاملThe Force Control of a Novel Variable Rotational Speed Hydraulic Pump-Controlled System Using Adaptive Fuzzy Controller with Self-Tuning Fuzzy Sliding-Mode Compensation
The conventional hydraulic valve-controlled systems have high response but low energyefficiency. Hydraulic pump-controlled servo systems have high energy efficiency. However, the conventional pump-controlled systems, which are altered by displacement via variable displacement pumps, have lower response. This paper aims to investigate the force control performance of the high response electro-hy...
متن کاملVoltage-Base Control of Camera Stabilizer Using Optimal Adaptive Fuzzy Sliding Mode Control
The camera stabilizer stabilizes the camera’s line of sight by isolating the camera from the model uncertainties, disturbances of operating environment and system movements. This paper presents a voltage-base optimal adaptive fuzzy sliding mode control for camera stabilizer. In this proposed control method, a voltage-base sliding mode controller is applied. But unfortunately, undesirable ...
متن کاملAdaptive Neuro Fuzzy Sliding Mode Based Genetic Algorithm Control System to Control of a pH Neutralization Process
In this paper, an adaptive neuro fuzzy sliding mode based genetic algorithm (ANFSGA) controlsystem is proposed for a pH neutralization system. In pH reactors, determination and control of pH isa common problem concerning chemical-based industrial processes due to the non-linearity observedin the titration curve. An ANFSGA control system is designed to overcome the complexity of precisecontrol o...
متن کامل