Fuzzy Slope Adaptation for the Sliding Mode Control of a Pneumatic Parallel Platform

被引：0
作者：
Pablo J. Prieto
Nohe R. Cazarez-Castro
Luis T. Aguilar
Dianelis Garcia
机构：
[1] Tecnologico Nacional de Mexico-Instituto Tecnologico de Tijuana,
[2] Instituto Politécnico Nacional,undefined
[3] CITEDI,undefined
[4] Universidad Central “Martha Abreu” de las Villas,undefined
来源：
International Journal of Fuzzy Systems | 2017年 / 19卷
关键词：
Chattering; Fuzzy system; Pneumatic actuator; Position control; Sliding surface;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
An alternative of fuzzy-based sliding mode control is reported in this paper so as to reduce chattering for a two degrees-of-freedom (2-DOF) platform driven by electro-pneumatic actuators. According to surface function values, a Mamdani fuzzy inference system is introduced to change the control action over the actuators and the slope of sliding surface to minimize chattering. In addition, although pneumatic actuators present high nonlinearities, experimental results are reported with attenuation of chattering and convergence toward the reference, in spite of the existence trade off between accuracy and system behavior for sliding mode controller.
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页码：167 / 178
页数：11
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