吉林大学学报(工学版) ›› 2011, Vol. 41 ›› Issue (02): 484-0490.

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Adaptive fuzzy sliding mode control of flexible payload of mechanical arm coordinated manipulation

TANG Zhi-guo1,2,LI Yuan-chun2,JIANG Ri-hua3   

  1. 1.State Key Laboratory of Automobile Dynamic Simulation, Jilin University, Changchun 130022, China|2.College of Communication Engineering, Jilin University, Changchun 130022, China;3.ChinaJapan Union Hospital, Jilin University,Changchun 130033,China
  • Received:2009-12-17 Published:2011-03-01

Abstract:

The decomposition and control of the finite element model for flexible payload system of mechanical arm coordinated manipulation were studied based on the singular perturbation theory. The dynamic model of complex coordinated system was divided into a slow subsystem and a fast subsystem by a dual timescale transform. For the slow subsystem, when the upper bound of the uncertainty was unknown, an adaptive fuzzy sliding mode controller was designed to realize system trajectory tracking capability. For the fast subsystem, considering the system parameter perturbation, a robust optimal controller was designed to suppress the elastic vibration. Simulation results proved the effectiveness of the proposed control scheme.

Key words: TP273

CLC Number: 

  • TP273
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