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Electro-hydraulic driving 6-dof parallel robot suffers from non-linearity, strong load coupling disturbance and parameters variations when it moves. In order to solve the problem of precise trajectory tracking for 6-dof parallel robot, a decentralized control strategy was used and a 2-dof QFT robust controller was designed in the joint space of robot. Experiment results show that the 2-dof QFT robust...
This paper presents sliding mode control with integral compensation and fuzzy tuning for hydraulic flight motion simulator servo system, which is highly nonlinear in nature with large parameter variations and severe load coupling among channels. The proposed control consists of an equivalent control for assigning desired sliding eigenvalues of the nominal closed-loop system, a switching control for...
This paper presents a novel robust sliding mode controller with fuzzy tuning for Stewart platform servo system, which suffers from high nonlinear dynamics and serious load coupling among channels. The controller consists of an equivalent control to assign desired dynamics to the closed-loop system, a switching control to guarantee a sliding mode, and a fuzzy control to enhance fast tracking and attenuate...
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