吉林大学学报(工学版) ›› 2011, Vol. 41 ›› Issue (增刊1): 245-248.

• paper • Previous Articles     Next Articles

Fuzzy sliding mode control of a class system

WABG Mao-lin1, YAN Dong1, SUN Xiao-dong2   

  1. 1. 92941 Troops, Huludao 125001, China;
    2. College of Communication Engineering, Jilin University, Changchun 130022, China
  • Received:2011-03-20 Online:2011-09-01 Published:2011-09-01

Abstract:

The decomposition and control of finite element modeling for two manipulators in handling a flexible payload were studied based on singular perturbation theory.The complex dynamic model of cooperative system was divided into a slow subsystem and a fast subsystem by dual-time scale transform.For the slow subsystem,when the bound of the uncertain was unknown,an adaptive fuzzy sliding mode controller was designed to realize system trajectory tracking performance.For the fast subsystem,considering the parameter perturbation,a robust optimal controller was presented to suppress the elastic vibration.Finally simulation results show the effectiveness of the proposed control scheme.

Key words: automatic control technology, vibration system, adaptive, sliding mode, fuzzy

CLC Number: 

  • TP273


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