Adaptive Fuzzy Integral Sliding-Mode Control for Parallel Stewart Mechanism
Publish Year: 1398
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
ISCELEC03_017
تاریخ نمایه سازی: 14 فروردین 1399
Abstract:
This paper addresses a novel design approach of an adaptive fuzzy integral sliding-mode controller (AFISMC) for Stewart platform with six degrees of freedom.]The AFISMC is planned to reduce the chattering and confronting the mismatched disturbance via combination of the fuzzy logic controller (FLC), the integral sliding-mode controller (ISMC) and an adaptive scheme. The ISMC can converge the path tracking error to zero in finite time. Moreover, the integral element causes the higher rank of the switching function. The FLC is used to approximate the unknown system function. The adaptive law is designed on the basis of the Lyapunov method
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Authors
Soheil Sheikh Ahmadi
Department of Electrical and Computer Engineering, University Of Tabriz, Tabriz, Iran
Arash Rahmani
Department of Mechanical Engineering, Urmia University of Technology, Urmia, Iran