Aiming at control method of 2-DOF joint robot, the 3D robot model is established in ADAMS firstly, and then dynamic equation of the robot is deduced by using the obtained parameters. And dynamic model is combined with control system model in MATLAB/Simulink by the ADAMS/Control module and is established coordinated simulation system. In order to eliminate the effect of the modeling error and uncertainty signal, a sliding-mode control is proposed. In this method, a linear sliding surface is used to ensure the system to reach equilibrium with the sliding surface in finite time; and fuzzy control is used to compensate for the modeling error and uncertainty signal. Equivalent control law and switching control law are derived by using Lyapunov stability criterion and exponential reaching law. Fuzzy control law and membership function are set up by using fuzzy control rules. Through online adaptive learning of fuzzy, buffeting is weakened. Simulation result shows that the control method is effective.
IOS Press, Inc.
6751 Tepper Drive
Clifton, VA 20124
Tel.: +1 703 830 6300
Fax: +1 703 830 2300 email@example.com
(Corporate matters and books only) IOS Press c/o Accucoms US, Inc.
For North America Sales and Customer Service
West Point Commons
Lansdale PA 19446
Tel.: +1 866 855 8967
Fax: +1 215 660 5042 firstname.lastname@example.org