Sliding mode control with fuzzy adaptive perturbation compensator for 6-DOF parallel manipulator |
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Authors: | Min?Kyu?Park Email author" target="_blank">Min?Cheol?LeeEmail author Wan?Suk?Yoo |
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Affiliation: | (1) Graduate School of Intelligent Mechanical Engineering, Pusan National University, Gumjeong-ku, 609-735 Busan, Korea;(2) School of Mechanical Engineering, Pusan National University, Gumjeong-ku, 609-735 Busan, Korea |
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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. |
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Keywords: | 6-DOF Parallel Manipulator Sliding Mode Control Fuzzy Adaptive Perturbation Compensator Observer-Based Fuzzy Adaptive Network |
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