Stability for a sliding mode fuzzy control applied to a pneumatic parallel robot
In this paper is reported a Mamdani type fuzzy controller based on sliding mode techniques applied to the regulation of a 2 DOF pneumatic parallel robot. Is is proved that the system is stable in Lyapunov sense, and numerical and experimental results are reported. Moreover, the designed controller c...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | Spanish |
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Universitat Politècnica de València
2015-10-01
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| Series: | Revista Iberoamericana de Automática e Informática Industrial RIAI |
| Subjects: | |
| Online Access: | https://polipapers.upv.es/index.php/RIAI/article/view/9354 |
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| _version_ | 1846146616836227072 |
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| author | Pablo J. Prieto Nohe R. Cazarez Castro Dianelis García Selene L. Cárdenas Maciel |
| author_facet | Pablo J. Prieto Nohe R. Cazarez Castro Dianelis García Selene L. Cárdenas Maciel |
| author_sort | Pablo J. Prieto |
| collection | DOAJ |
| description | In this paper is reported a Mamdani type fuzzy controller based on sliding mode techniques applied to the regulation of a 2 DOF pneumatic parallel robot. Is is proved that the system is stable in Lyapunov sense, and numerical and experimental results are reported. Moreover, the designed controller can be applied to tracking control if speed and acceleration from the system are feedbacked. Also are reported satisfactory experimental results for the tracking case. |
| format | Article |
| id | doaj-art-bb5364bc961e434dbba84dfc100e0519 |
| institution | Kabale University |
| issn | 1697-7912 1697-7920 |
| language | Spanish |
| publishDate | 2015-10-01 |
| publisher | Universitat Politècnica de València |
| record_format | Article |
| series | Revista Iberoamericana de Automática e Informática Industrial RIAI |
| spelling | doaj-art-bb5364bc961e434dbba84dfc100e05192024-12-02T02:03:36ZspaUniversitat Politècnica de ValènciaRevista Iberoamericana de Automática e Informática Industrial RIAI1697-79121697-79202015-10-0112448849610.1016/j.riai.2015.09.0086399Stability for a sliding mode fuzzy control applied to a pneumatic parallel robotPablo J. Prieto0Nohe R. Cazarez Castro1Dianelis García2Selene L. Cárdenas Maciel3Tecnológico Nacional de MéxicoTecnológico Nacional de MéxicoUniversidad Central “Marta Abreu”de Las VillasTecnológico Nacional de MéxicoIn this paper is reported a Mamdani type fuzzy controller based on sliding mode techniques applied to the regulation of a 2 DOF pneumatic parallel robot. Is is proved that the system is stable in Lyapunov sense, and numerical and experimental results are reported. Moreover, the designed controller can be applied to tracking control if speed and acceleration from the system are feedbacked. Also are reported satisfactory experimental results for the tracking case.https://polipapers.upv.es/index.php/RIAI/article/view/9354Control borrosoControl de robotEstabilidad de LyapunovModos deslizantes |
| spellingShingle | Pablo J. Prieto Nohe R. Cazarez Castro Dianelis García Selene L. Cárdenas Maciel Stability for a sliding mode fuzzy control applied to a pneumatic parallel robot Revista Iberoamericana de Automática e Informática Industrial RIAI Control borroso Control de robot Estabilidad de Lyapunov Modos deslizantes |
| title | Stability for a sliding mode fuzzy control applied to a pneumatic parallel robot |
| title_full | Stability for a sliding mode fuzzy control applied to a pneumatic parallel robot |
| title_fullStr | Stability for a sliding mode fuzzy control applied to a pneumatic parallel robot |
| title_full_unstemmed | Stability for a sliding mode fuzzy control applied to a pneumatic parallel robot |
| title_short | Stability for a sliding mode fuzzy control applied to a pneumatic parallel robot |
| title_sort | stability for a sliding mode fuzzy control applied to a pneumatic parallel robot |
| topic | Control borroso Control de robot Estabilidad de Lyapunov Modos deslizantes |
| url | https://polipapers.upv.es/index.php/RIAI/article/view/9354 |
| work_keys_str_mv | AT pablojprieto stabilityforaslidingmodefuzzycontrolappliedtoapneumaticparallelrobot AT nohercazarezcastro stabilityforaslidingmodefuzzycontrolappliedtoapneumaticparallelrobot AT dianelisgarcia stabilityforaslidingmodefuzzycontrolappliedtoapneumaticparallelrobot AT selenelcardenasmaciel stabilityforaslidingmodefuzzycontrolappliedtoapneumaticparallelrobot |