Paper Info
Title
Two-Degree-Of-Freedom Internal Model Position Control And Fuzzy Fractional Force Control Of Nonlinear Parallel Robot
Abstract
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.
Year
DOI
Venue
2019
10.1080/00207721.2019.1654006
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
Keywords
Field
DocType
Parallel robot, force, position hybrid control, fuzzy fractional order, internal model control
Parallel manipulator,Degrees of freedom (statistics),Nonlinear system,Control theory,Fuzzy logic,Mathematics,Internal model
Journal
Volume
Issue
ISSN
50
12
0020-7721
Citations 
PageRank 
References 
1
0.35
0
Authors
6
Name
Order
Citations
PageRank
Shuhuan Wen15411.14
Di Zhang210.35
Baowei Zhang3113.02
H. K. Lam43618193.15
hongbin wang5119.05
Yongsheng Zhao67519.66