This paper presents a novel robust sliding mode controller with fuzzy tuning for Stewart platform servo system, which suffers from high nonlinear dynamics and serious load coupling among channels. The controller consists of an equivalent control to assign desired dynamics to the closed-loop system, a switching control to guarantee a sliding mode, and a fuzzy control to enhance fast tracking and attenuate chattering. To verify the potential and effectiveness of the proposed controller, simulations and experiments are made. The results demonstrate its strong robustness against a large range of parameters variations and load disturbance and its capability of restraining the serious load coupling among channels and improving the trajectories tracking performance.
An integral variable structure controller with fuzzy tuning design for electro-hydraulic driving Stewart platform
01.01.2006
1784824 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Automatic tuning of an integral fuzzy controller
British Library Conference Proceedings | 1993
|LQG controller design applied to a pneumatic stewart-gough platform
British Library Online Contents | 2012
|Electro-hydraulic integrated driving system of aerial work platform
Europäisches Patentamt | 2021
|Inverse Kinematics Model's Parameter Simulation for Stewart Platform Design of Driving Simulator
British Library Conference Proceedings | 2018
|Inverse Kinematics Model’s Parameter Simulation for Stewart Platform Design of Driving Simulator
Springer Verlag | 2017
|