The adaptive neural network fuzzy sliding mode control for the 3-RRS parallel manipulator

In order to improve the high-precision tracking control of angle variables and the sliding mode equivalent control part for the 3-RRS parallel manipulator, an adaptive neural network fuzzy sliding mode control algorithm with self-adjusting switching gain is proposed. Firstly, considering the uncerta...

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Bibliographic Details
Published in:Advances in mechanical engineering 2022-09, Vol.14 (9)
Main Authors: Li, Xiyu, Gao, Xin, Sun, Liangliang, Zheng, Donghao, Shi, Heng, Lei, Chengqiang, Hu, Lei, Zong, Yonghong
Format: Article
Language:English
Subjects:
Adaptive control
Algorithms
Artificial neural networks
Computer simulation
Control algorithms
Control systems design
Control theory
Controllers
Dynamic models
Equivalence
Fuzzy control
Fuzzy logic
Manipulators
Neural networks
Robot arms
Sliding mode control
Switching
Tracking control
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Summary:In order to improve the high-precision tracking control of angle variables and the sliding mode equivalent control part for the 3-RRS parallel manipulator, an adaptive neural network fuzzy sliding mode control algorithm with self-adjusting switching gain is proposed. Firstly, considering the uncertainty of the constrained force between derived links and the moving platform, the complete dynamic model including ideal and non-ideal constrained force is established by combining with the Udwadia-Kalaba(U-K) equation and Lagrange method. Secondly, the neural network sliding mode controller is designed to realize the approximate solution of the sliding mode equivalent control part. At the same time, in order to reduce the chattering phenomenon of the neural network sliding mode controller, a fuzzy adjustment rule of switching gain is designed to better compensate for the uncertain terms. And then the stability of the control system is proved by the Lyapunov method. Finally, the proposed control algorithm is simulated on the 3-RRS parallel manipulator. The simulation results show that the chattering phenomenon is overcome. The high-precision control of angle variables and the sliding mode equivalent control part is realized.
ISSN:1687-8132
1687-8140
DOI:10.1177/16878132221126112