Adaptive Fuzzy Integral Sliding-Mode Control for Parallel Stewart Mechanism

Soheil Sheikh Ahmadi¹ arash rahmani²

1) Department of Electrical and Computer Engineering, University Of Tabriz, Tabriz, Iran
2) Department of Mechanical Engineering, Urmia University of Technology, Urmia, Iran Email: Arash.rahamaniuut.ac.ir

محل انتشار : سومین کنفرانس ملی مهندسی برق و کامیپوتر(iscelec.ir)
Abstract :
This paper addresses a novel design approach of an adaptive fuzzy integral sliding-mode controller (AFISMC) for Stewart platform with six degrees of freedom.]The AFISMC is planned to reduce the chattering and confronting the mismatched disturbance via combination of the fuzzy logic controller (FLC), the integral sliding-mode controller (ISMC) and an adaptive scheme. The ISMC can converge the path tracking error to zero in finite time. Moreover, the integral element causes the higher rank of the switching function. The FLC is used to approximate the unknown system function. The adaptive law is designed on the basis of the Lyapunov method.
Keywords : Adaptive Laws, Integral Sliding-Mode Controller, Fuzzy Logic Controller, Stewart Mechanism.