Parallel robot with fuzzy neural network sliding mode control

被引：25

作者：

Xu, Jiangmin ^{[1
]}

Wang, Qi ^{[2
]}

Lin, Qing ^{[1
]}

机构：

[1] Jiangsu Univ Sci & Technol, Sch Mech Engn, 2 Mengxi Rd, Zhenjiang 212003, Peoples R China

[2] HE GE Wind Energy Jiangsu Co Ltd, Zhenjiang, Peoples R China

来源：

ADVANCES IN MECHANICAL ENGINEERING | 2018年 / 10卷 / 10期

关键词：

Parallel robot; sliding control; fuzzy neural network; 6 degrees of freedom; radial basis function learning; STEWART PLATFORM;

D O I：

10.1177/1687814018801261

中图分类号：

O414.1 [热力学];

学科分类号：

摘要：

With the advancement in research on parallel robots, control theory is increasingly applied in the field of robotics. Owing to its robustness, sliding mode variable structure control is extensively used in parallel robots. This article presents an adaptive sliding mode control method for nonlinear systems. A parallel robot control model with adaptive fuzzy sliding mode control was designed based on a fuzzy neural network control theory, and simulation results demonstrate its effectiveness of the method.

引用

页数：8

共 9 条

[1]

[Anonymous], 2005, COMPUTATIONAL INTELL

[2]

Babaci S, 1996, FUZZ-IEEE '96 - PROCEEDINGS OF THE FIFTH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-3, P1770, DOI 10.1109/FUZZY.1996.552638

[3] A constructive predictor-corrector algorithm for the direct position kinematics problem for a general 6-6 Stewart platform [J].

Dasgupta, B ;

Mruthyunjaya, TS .

MECHANISM AND MACHINE THEORY, 1996, 31 (06) :799-811

[4] The Stewart platform manipulator: a review [J].

Dasgupta, B ;

Mruthyunjaya, TS .

MECHANISM AND MACHINE THEORY, 2000, 35 (01) :15-40

[5]

Ficher EF., 1998, P ASME DES ENG TECHN, P1

[6]

Garrido R, 2004, 2004 1st International Conference on Electrical and Electronics Engineering (ICEEE), P356

[7]

Honegger M., 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), P1930, DOI 10.1109/ROBOT.2000.844877

[8] A new adaptive fuzzy controller using the parallel structure of fuzzy controller and its application [J].

Kim, SW ;

Kim, ET ;

Park, M .

FUZZY SETS AND SYSTEMS, 1996, 81 (02) :205-226

[9] Position control of a Stewart platform using inverse dynamics control with approximate dynamics [J].

Lee, SH ;

Song, JB ;

Choi, WC ;

Hong, DH .

MECHATRONICS, 2003, 13 (06) :605-619

← 1 →