Two-degree-of-freedom internal model position control and fuzzy fractional force control of nonlinear parallel robot

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Two-degree-of-freedom internal model position control and fuzzy fractional force control of nonlinear parallel robot

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Wen, Shuhuan / Zhang, Di / Zhang, Baowei / Lam, Hak Keung / Wang, Hongbin / Zhao, Yongsheng

The paper proposes a novel method for the nonlinear redundantly actuated parallel robot based on force/position hybrid control structure. In order to solve the limitation of making a compromise for internal model controller, a two-DOF fractional order internal model control algorithm combining the internal model control principle and the fractional order theory is proposed for the position branch of the parallel robot redundantly actuated. This algorithm can realise the adjustment of the dynamic performance and anti-interference of 6PUS-UPU respectively. Aiming at the big force control error fractional order internal model, fuzzy control theory and the fractional order internal model controller are integrated into a new controller-fuzzy fractional order internal model(FFOIM) force control algorithm. Then Admas/Matlab simulation results demonstrate that the proposed algorithm can further reduce the driving force error of the system, and also retain the strong anti-interference of fractional order internal model controller.

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Dokumentinformationen

Titel :

Two-degree-of-freedom internal model position control and fuzzy fractional force control of nonlinear parallel robot

Beteiligte:

Wen, Shuhuan (Autor:in) / Zhang, Di (Autor:in) / Zhang, Baowei (Autor:in) / Lam, Hak Keung (Autor:in) / Wang, Hongbin (Autor:in) / Zhao, Yongsheng (Autor:in)

Erscheinungsdatum :

2019-09-10

Anmerkungen:

Wen , S , Zhang , D , Zhang , B , Lam , H K , Wang , H & Zhao , Y 2019 , ' Two-degree-of-freedom internal model position control and fuzzy fractional force control of nonlinear parallel robot ' , INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE , vol. 50 , no. 12 , pp. 2261-2279 . https://doi.org/10.1080/00207721.2019.1654006

DOI :

https://doi.org/10.1080/00207721.2019.1654006

Medientyp :

Aufsatz (Zeitschrift)

Format :

Elektronische Ressource

Sprache :

Englisch

Schlagwörter :

force/position hybrid control , fuzzy fractional order , internal model control , Parallel robot

Klassifikation :

DDC: