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Adaptive fuzzy sliding mode control for a robotic aircraft flexible tooling system

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Abstract

A robotic aircraft flexible tooling system is proposed in this paper, of which high-precision synchronous motion control of dual robots is a key part. In order to alleviate the effects of the mechanical coupling over synchronous and tracking errors of the two robots, a cross-coupling scheme based on an adaptive fuzzy sliding mode controller (AFSMC) is developed. First, the mechanical coupling model is established by dynamics analysis of the dual-robot driving system. Then, a novel cross-coupling error is proposed, which combines both the position and speed tracking and synchronous errors of dual robots. Moreover, the cross-coupling control scheme based on AFSMC is presented. For the proposed AFSMC, a fuzzy logic controller is adopted to generate the hitting control signal, and the output gain of the sliding mode control is tuned online by a supervisory fuzzy system. Finally, the preferable performance of the proposed AFSMC cross-coupling approach is verified by the simulation results compared with the conventional proportional-integral-derivative control and SMC cross-coupling controls.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Tsinghua University, 100084, Beijing, China

    Lixin Zhan & Kai Zhou

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  1. Lixin Zhan
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  2. Kai Zhou
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Correspondence to Lixin Zhan.

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Zhan, L., Zhou, K. Adaptive fuzzy sliding mode control for a robotic aircraft flexible tooling system. Int J Adv Manuf Technol 69, 1469–1481 (2013). https://doi.org/10.1007/s00170-013-5123-6

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  • DOI: https://doi.org/10.1007/s00170-013-5123-6

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