Trajectory tracking of frictional direct-drive motors using fuzzy-linear-model-based robust variable structure control

2002 ◽  
Author(s):  
Chih-Lyang Hwang ◽  
Yung-Ming Chen ◽  
Sheng-Huei Huang
Keyword(s):  
Linear Model ◽  
Trajectory Tracking ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Direct Drive ◽  
Structure Control ◽  
Model Based

Research of Trajectory Tracking Algorithms for Industrial Robot

2014 ◽  
Vol 568-570 ◽  
pp. 922-926
Author(s):  
Cheng Liu ◽  
Xue Ren Li ◽  
Yun Ze Li
Keyword(s):  
Trajectory Tracking ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Industrial Robot ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Fast Variable ◽  
Control Effect ◽  
Improve Response Rate ◽  
Structure Control

the paper firstly designs dynamics model of a 6-DOF vertical multi-joint robot and simplifies it, aiming at the existing algorithms PID path tracking control, the paper put forward two new algorithms based on the analysis of the variable structure control: fast variable structure control algorithm and adaptive fuzzy variable structure control algorithm. The fast variable structure control algorithm can improve the control effect by optimizing the reaching movement. By introducing adaptive processing and fuzziness into reaching law of traditional variable structure control, the reaching motion is improved during sliding mode process. The results show that the two algorithms can not only improve response rate, but also ensure the accuracy of trajectory tracking, as well as the advantages of simple structure, high robustness and adaptability.

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