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Experiments on fuzzy sliding mode variable structure control for vibration suppression of a rotating flexible beam
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
发表期刊Journal of Vibration and Control
ISSN1077-5463
2015
卷号21期号:2页码:343-358
收录类别SCI ; EI
EI收录号20150300437004
WOS记录号WOS:000349085400012
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标题词Science & Technology ; Technology
WOS类目Acoustics ; Engineering, Mechanical ; Mechanics
关键词[WOS]HARMONIC DRIVES ; ACTIVE CONTROL ; LINK ; MANIPULATOR ; FEEDBACK ; ROBOT ; LOGIC
WOS研究方向Acoustics ; Engineering ; Mechanics
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/13971
专题空间自动化技术研究室
通讯作者Qiu ZC(邱志成)
作者单位1.School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
推荐引用方式
GB/T 7714
Qiu ZC,Han JD,Liu JG. Experiments on fuzzy sliding mode variable structure control for vibration suppression of a rotating flexible beam[J]. Journal of Vibration and Control,2015,21(2):343-358.
APA Qiu ZC,Han JD,&Liu JG.(2015).Experiments on fuzzy sliding mode variable structure control for vibration suppression of a rotating flexible beam.Journal of Vibration and Control,21(2),343-358.
MLA Qiu ZC,et al."Experiments on fuzzy sliding mode variable structure control for vibration suppression of a rotating flexible beam".Journal of Vibration and Control 21.2(2015):343-358.
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