Low-Dimensional-Approximate Model Based Improved Fuzzy Non-Singular Terminal Sliding Mode Control for Rigid-Flexible Manipulators
Abstract
:1. Introduction
- (1)
- For the low-order model belonging to the non-minimum phase system, the output redefinition [61] is used to redefine the output observer, which not only keeps the system’s main characteristics, but also reduces the degree of freedom of the system on the premise of the unknown and clear loss of the solution accuracy. This results in great convenience for the system analysis and controller design.
- (2)
- A novel fuzzy control strategy is proposed. It uses the improved fuzzy method and introduces the variable universe concept in order to adaptively adjust the range of the input and output universe. Without adding fuzzy rules, the control law is dynamically compensated in real time, so as to improve the convergence speed of the system, under the condition of overcoming jitter.
- (3)
- Combining the redefined output observer of the proposed low-order model with the fuzzy non-singular terminal slide controller, the convergence speed is improved, and the chattering problem of sliding mode control is reduced. The accurate positioning of the end of the rigid-flexible manipulators and the suppression of residual vibration are then achieved.
2. Dynamic Modeling of the Rigid-Flexible Manipulators System
3. Output Redefinition
4. Linearization of the Input and Output Subsystems
5. Controller Design
5.1. Stabilization of Interconnected Subsystems Based on PD State Feedback
5.2. Design of Non-Singular Terminal Sliding Mode Controller
5.3. Design of Improved Fuzzy Non-Singular Terminal Sliding Mode Controller
6. Simulation Analysis
7. Experimental Verification of the Fuzzy Non-Singular Terminal Sliding Mode Control for Low Dimensional Mode
7.1. Experimental Platform
7.2. Experimental Methods
7.3. Analysis of the Experimental Results
8. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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s | NB | NM | NS | ZO | PS | PM | PB | |
---|---|---|---|---|---|---|---|---|
s | ||||||||
PB | ZO | PS | PM | PB | PB | PB | PB | |
PM | NS | ZO | PS | PM | PB | PB | PB | |
PS | NM | NS | ZO | PS | PM | PB | PB | |
ZO | NB | NM | NS | ZO | PS | PM | PB | |
NS | NB | NB | NM | NS | ZO | PS | PM | |
NM | NB | NB | NB | NM | NS | ZO | PS | |
NB | NB | NB | NB | NB | NM | NS | ZO |
Test Scope | Accuracy | Open Circuit Voltage | Basic Dimensions | Range |
---|---|---|---|---|
Model of Motor | MSMD5AZG1V | MSMD5AZG1U |
---|---|---|
Rated power (W) | 50 | 50 |
Rated speed (rpm) | 3000 | 3000 |
Maximum speed (rpm) | 5000 | 5000 |
Rated torque (Nm) | 0.16 | 0.16 |
Maximum torque (Nm) | 0.48 | 0.48 |
Rated line current (A) | 1.1 | 1.1 |
Rotor inertia (×10−4 kg m2) | 0.027 | 0.025 |
Method | Joint 2 Response Improvement | Reduction in End Vibration |
---|---|---|
IFNTSMC-2 compared with SMC-2 | 25.1% | 30.5% |
FNTSMC-2 compared with SMC-2 | 13.6% | 19.1% |
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Xu, L.; Qian, X.; Hu, R.; Zhang, Y.; Deng, H. Low-Dimensional-Approximate Model Based Improved Fuzzy Non-Singular Terminal Sliding Mode Control for Rigid-Flexible Manipulators. Electronics 2022, 11, 1263. https://doi.org/10.3390/electronics11081263
Xu L, Qian X, Hu R, Zhang Y, Deng H. Low-Dimensional-Approximate Model Based Improved Fuzzy Non-Singular Terminal Sliding Mode Control for Rigid-Flexible Manipulators. Electronics. 2022; 11(8):1263. https://doi.org/10.3390/electronics11081263
Chicago/Turabian StyleXu, Lisha, Xiaoshan Qian, Rong Hu, Yi Zhang, and Hua Deng. 2022. "Low-Dimensional-Approximate Model Based Improved Fuzzy Non-Singular Terminal Sliding Mode Control for Rigid-Flexible Manipulators" Electronics 11, no. 8: 1263. https://doi.org/10.3390/electronics11081263