The Ezcavating Robots Adaptive Fuzzy Sliding Mode Control
(0) Aiming at the trajectory tracking control and the parameter uncertainty of the excavating robots working device, the dynamic equation of the excavating robots working device is established. An adaptive fuzzy sliding mode variable structure control is developed and the control law consists of three components: an equivalent control, a switching control and a tuning control. By introducing an adaptive fuzzy parameter to continuously approximate sliding mode controller, the robustness to the uncertainty of the control system is enhanced, the chattering of the sliding mode control is weakened and it has strong adaptive tracking ability. The controller developed is simulated by the toolbox of Matlab7.0/Simulink and the tracking performance and error of the adaptive fuzzy sliding mode control is presented.
Ezcavating Robot Dynamics Adaptive Fuzzy Sliding Mode Control
LIU Kuo LIU Kun GUO Da-meng HE Xin-xin
School of Mechanical Engineering and Automatization, Northeastern University, Shenyang 110004, China
国际会议
沈阳
英文
442-447
2009-08-24（万方平台首次上网日期，不代表论文的发表时间）