Adaptive fuzzy sliding mode control for a robotic aircraft flexible tooling system

摘要

A robotic aircraft flexible tooling system is proposed in this paper, of which high-precision synchronous motion control of dual robots is a key part. In order to alleviate the effects of the mechanical coupling over synchronous and tracking errors of the two robots, a cross-coupling scheme based on an adaptive fuzzy sliding mode controller (AFSMC) is developed. First, the mechanical coupling model is established by dynamics analysis of the dual-robot driving system. Then, a novel cross-coupling error is proposed, which combines both the position and speed tracking and synchronous errors of dual robots. Moreover, the cross-coupling control scheme based on AFSMC is presented. For the proposed AFSMC, a fuzzy logic controller is adopted to generate the hitting control signal, and the output gain of the sliding mode control is tuned online by a supervisory fuzzy system. Finally, the preferable performance of the proposed AFSMC cross-coupling approach is verified by the simulation results compared with the conventional proportional-integral-derivative control and SMC cross-coupling controls.