SLIDING MOTION CONTROL WITH BOND GRAPH MODELING APPLIED ON A ROBOT LEG

被引:0
作者
Gal, Alexandru I. [1 ]
Vladareanu, Luige [1 ]
Munteanu, Radu I. [2 ]
机构
[1] Romanian Acad, Inst Solid Mech, Bucharest, Romania
[2] Tech Univ Cluj Napoca, Cluj Napoca, Romania
来源
REVUE ROUMAINE DES SCIENCES TECHNIQUES-SERIE ELECTROTECHNIQUE ET ENERGETIQUE | 2015年 / 60卷 / 02期
关键词
Sliding motion montrol; Bond graph; Dynamic control; Fuzzy control;
D O I
暂无
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
In this paper we use the bond graph modeling to control a mobile walking robots' leg. The legs' structure presents two degrees of freedom for an easy understanding of the control laws' behavior. Along with this approach we used the sliding motion control method, which is a dynamic position control method, to achieve the reference tracking control. Also, a fuzzy control law was added to the main feedback loop, to improve the tracking speed and to lower the time needed by the legs' foot to reach the desired reference position. Compared to others, we achieved to eliminate override, a better time in reaching the desired position and a lower error rate.
引用
收藏
页码:215 / 224
页数:10
相关论文
共 14 条
[1]  
[Anonymous], 2003, MECHATRONICS BOND GR
[2]  
Boscoianu M., 2008, COMP METH INT SYST S
[3]  
Damic V., 1998, P INT C MECH DES 98, P377
[4]  
Gal A., 2012, SISOM 2012 BUCH 25 2
[5]   The fusion of computationally intelligent methodologies and sliding-mode control - A survey [J].
Kaynak, O ;
Erbatur, K ;
Ertugrul, M .
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2001, 48 (01) :4-17
[6]  
Kerboua A, 2012, REV ROUM SCI TECH-EL, V57, P412
[7]   A comparative study of sliding mode and model reference adaptive speed observers for induction motor drive [J].
Lin, FJ ;
Wai, RJ ;
Kuo, RH ;
Liu, DC .
ELECTRIC POWER SYSTEMS RESEARCH, 1998, 44 (03) :163-174
[8]  
Melinte O., 2011, EUR COMP C PAR, P364
[9]  
Parra-Vega V., 2003, IEEE T ROBOTIC AUTOM, V19, P6
[10]  
Shafiei Seyed Ehsan, 2010, Advanced Strategies for Robot Manipulators, P135