Journal of Mechanical Science and Technology

  • 제18권4호
  • /
  • Pages.535-549
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  • 2004
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  • 1738-494X(pISSN)
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  • 1976-3824(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
권호 표지

Sliding Mode Control with Fuzzy Adaptive Perturbation Compensator for 6-DOF Parallel Manipulator

  • Park, Min-Kyu (Graduate School of Intelligent Mechanical Engineering, Pusan National University) ;
  • Lee, Min-Cheol (School of Mechanical Engineering, Pusan National University) ;
  • Yoo, Wan-Suk (School of Mechanical Engineering, Pusan National University)
  • 발행 : 2004.04.01
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초록

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 compensate. 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.

키워드

참고문헌

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