NDLI: Sliding mode control with fuzzy adaptive perturbation compensator for 6-DOF parallel manipulator

Content Provider	Springer Nature Link
Author	Park, Min Kyu Lee, Min Cheol Yoo, Wan Suk
Copyright Year	2004
Abstract	This paper proposes a sliding mode controller with fuzzy adaptive perturbation compensator (FAPC) to get a good control performance and reduce the chatter. The proposed algorithm can reduce the chattering because the proposed fuzzy adaptive perturbation compensator compensates the perturbation terms. The compensator computes the control input for compensating unmodeled dynamic terms and disturbance by using the observer-based fuzzy adaptive network (FAN). The weighting parameters of the compensator are updated by on-line adaptive scheme in order to minimize the estimation error and the estimation velocity error of each actuator. Therefore, the combination of sliding mode control and fuzzy adaptive network gives the robust and intelligent routine to get a good control performance. To evaluate the control performance of the proposed approach, tracking control is experimentally carried out for the hydraulic motion platform which consists of a 6-DOF parallel manipulator.
Starting Page	535
Ending Page	549
Page Count	15
File Format	PDF
ISSN	1738494X
Journal	Journal of Mechanical Science and Technology
Volume Number	18
Issue Number	4
Language	English
Publisher	Korean Society of Mechanical Engineers
Publisher Date	2004-01-01
Publisher Place	Seoul
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	6-DOF Parallel Manipulator Sliding Mode Control Fuzzy Adaptive Perturbation Compensator Observer-Based Fuzzy Adaptive Network Mechanical Engineering Vibration, Dynamical Systems, Control Industrial and Production Engineering
Content Type	Text
Resource Type	Article
Subject	Mechanics of Materials Mechanical Engineering

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