Design of fuzzy sliding mode controller for suspended-floater servo system

作者：You Bo; Gao Yang; Xu Jiazhong; Xie Wenbo; Li Zhi

来源：International Journal of Hybrid Information Technology, 2016, 9(6): 107-116.

DOI：10.14257/ijhit.2016.9.6.09

• Constant velocities
• External interference
• Floating objects
• Fuzzy control methods
• Fuzzy sliding mode controller
• Fuzzy sliding-mode control methods
• Simulation
• Suspended-floater

A fuzzy sliding mode control method is proposed to eliminate the interference that suspended floating objects suffered in the on-ground low-gravity simulation system. Due to the change of sling swing-angle that caused by the external interference is weak, the time integral of the sling swing-angle is taken as tracking errors. Meanwhile the values of angle and the angle differential should be converged to 0. A fuzzy sliding mode controller is designed according to the dynamic model. The traditional sliding mode control method and fuzzy control method are combined in this paper. The simulation results indicate that the servo platform is capable of tracking a floating object rapidly. And the servo platform is able to move in constant velocity synchronously with the floating object while the sling is kept upright. The feasibility of applying fuzzy sliding mode control method to the field of tracking suspension floating object is verified.

• 出版日期2016