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题名: Experiments on fuzzy sliding mode variable structure control for vibration suppression of a rotating flexible beam
作者: Qiu ZC(邱志成); Han JD(韩建达); Liu JG(刘金国)
作者部门: 空间自动化技术研究室
关键词: Flexible smart manipulator ; active vibration control ; fuzzy sliding mode control ; experiments ; variable structure control
刊名: Journal of Vibration and Control
ISSN号: 1077-5463
出版日期: 2015
卷号: 21, 期号:2, 页码:343-358
收录类别: SCI ; EI
产权排序: 1
摘要: Space robots are a kind of coupling system with a rigid body and flexible structures, in which harmonic drive gears are usually used as speed reducers. Thus, the vibration problem is unavoidable due to maneuvering and external disturbances. This paper is concerned with the design and implementation of a fuzzy sliding mode control (FSMC) algorithm and a composite controller to dampen the vibration of a flexible manipulator with a flexible link and a harmonic drive gear (flexible joint). The designed controllers are used to dampen the end-point vibration of the flexible link and flexible joint manipulator, to compensate for unknown and time-varying nonlinear uncertain parameters, such as friction torque and flexible joint characteristics of a harmonic drive gear, etc. The experimental comparison research was conducted, including set-point active vibration control and vibration suppression under resonant excitation. The experimental results demonstrate that the FSMC and the composite algorithms can significantly enhance the performance of vibration suppression for flexible manipulator.
语种: 英语
WOS记录号: WOS:000349085400012
WOS标题词: Science & Technology ; Technology
类目[WOS]: Acoustics ; Engineering, Mechanical ; Mechanics
关键词[WOS]: HARMONIC DRIVES ; ACTIVE CONTROL ; LINK ; MANIPULATOR ; FEEDBACK ; ROBOT ; LOGIC
研究领域[WOS]: Acoustics ; Engineering ; Mechanics
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/13971
Appears in Collections:空间自动化技术研究室_期刊论文

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