Journal
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
Volume 69, Issue 5-8, Pages 1469-1481Publisher
SPRINGER LONDON LTD
DOI: 10.1007/s00170-013-5123-6
Keywords
Synchronous motion control; Aircraft flexible tooling system; Dual robot; Fuzzy logic; AFSMC; Cross-coupling control
Funding
- Doctor Subject Foundation of the Ministry of Education of China [200800030005, 20110002110079]
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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.
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