سال انتشار: ۱۳۸۶

محل انتشار: اولین کنگره مشترک سیستم های فازی و سیستم های هوشمند

تعداد صفحات: ۸

نویسنده(ها):

M Dehghani – Shiraz University-Dept. of Elec. Eng
F Shabaninia – Shiraz University-Dept. of Elec. Eng

چکیده:

Accuracy of tracking and robustness are very important specifications in control of parallel robots. Classical control methods could not satisfy these requirements in parallel robots, simultaneously. Sliding mode control solves problems of accurate tracking, but it is not robust enough because of influence of chattering phenomena. Implementation of fuzzy logic in sliding mode enhances robustness. In this paper, by use of dynamic model of Delta parallel robot and
considering uncertainty with dynamic parameters, the fuzzy sliding mode control is applied to this parallel robot. Simulation results and comparison of them with sliding mode control results show the advantages of applying fuzzy logic in control methods.