About this Journal Submit a Manuscript Table of Contents
Mathematical Problems in Engineering
Volume 2012 (2012), Article ID 432129, 12 pages
http://dx.doi.org/10.1155/2012/432129
Research Article

Low-Speed Control of Heavy-Load Transfer Robot with Long Telescopic Boom Based on Stribeck Friction Model

College of Automation, Harbin University of Science and Technology, Harbin 150080, China

Received 5 September 2012; Accepted 23 October 2012

Academic Editor: Hamid Reza Karimi

Copyright © 2012 Bo You et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. L. L. Liu, H. Z. Liu, Z. Y. Wu, and Z. M. Wang, “An overview of friction models in mechanical systems,” Advances in Mechanics, vol. 38, no. 2, pp. 201–213, 2008.
  2. J. Huang and S. H. Ye, “Analysis and control offset research of servo system with rub,” Machine Science and Technology, vol. 18, no. 1, pp. 1–4, 1999.
  3. B. Armstrong, P. Dupont, and C. C. De Wit, “A survey of models, analysis tools and compensation methods for the control of machines with friction,” Automatica, vol. 30, no. 7, pp. 1083–1138, 1994. View at Publisher · View at Google Scholar · View at Scopus
  4. L. J. Ma, Y. Z. Tang, and X. B. Zhi, “Synovium variable structure control research of low-speed friction servo system,” Learned Journal of Shot and Arrow Guide, vol. 27, no. 3, pp. 77–79, 2007.
  5. J. S. Peng, Q. Y. Su, and S. L. Song, “Application of the servo system with fuzzy PID control that base on stribeck friction model,” Electrical Engineering, vol. 1, pp. 15–17, 2007.
  6. J. Qiu, G. Feng, and H. Gao, “Fuzzy-model-based piecewise ∞ static-output-feedback controller design for networked nonlinear systems,” IEEE Transactions on Fuzzy Systems, vol. 18, no. 5, pp. 919–934, 2010. View at Publisher · View at Google Scholar · View at Scopus
  7. J. Qiu, G. Feng, and H. Gao, “Asynchronous output feedback control of networked nonlinear systems with multiple packet dropouts: T-S fuzzy affine model based approach,” IEEE Transactions on Fuzzy Systems, vol. 19, no. 6, pp. 1014–1030, 2011.
  8. H. Li, H. Liu, H. Gao, and P. Shi, “Reliable fuzzy control for active suspension systems with actuator delay and fault,” IEEE Transactions on Fuzzy Systems, vol. 20, no. 2, pp. 342–357, 2012.
  9. H. Li, J. Yu, C. Hilton, and H. Liu, “Adaptive sliding mode control for nonlinear active suspension systems using T-S fuzzy model,” IEEE Transactions on Industrial Electronics. In press. View at Publisher · View at Google Scholar
  10. L. Xu and B. Yao, “Adaptive robust control of mechanical systems with nonlinear dynamic friction compensation,” in Proceedings of the American Control Conference, pp. 2595–2599, Chicago, Ill, USA, June 2000. View at Scopus
  11. G. Morel, K. Iagnemma, and S. Dubowsky, “Precise control of manipulators with high joint-friction using base force/torque sensing,” Automatica, vol. 36, no. 7, pp. 931–941, 2000. View at Publisher · View at Google Scholar · View at Scopus
  12. B. N. Xiao, L. H. Gong, and S. Zhang, “Simulation research on friction model of a flight simulation table servo system,” Lubrication Engineering, vol. 34, no. 3, pp. 76–80, 2009.
  13. S. Y. Li, Neural Control and Intelligent Control Theory, Harbin Institute of Technology Press, Harbin, China, 1996.
  14. G. Y. Li, “New fuzzy PID controller,” Journal of System Simulation, vol. 15, no. 10, pp. 1492–1493, 2003. View at Scopus
  15. A. Haj-Ali and H. Ying, “Structural analysis of fuzzy controllers with nonlinear input fuzzy sets in relation to nonlinear PID control with variable gains,” Automatica, vol. 40, no. 9, pp. 1551–1559, 2004. View at Publisher · View at Google Scholar · View at Scopus
  16. H. B. Zhou, H. Deng, and J. A. Duan, “Fuzzy-PID control for the motion platform of thermosonic flip-chip bonding machines,” Journal of System Simulation, vol. 19, no. 13, pp. 2944–2954, 2007. View at Scopus
  17. M. Wang and L. Y. Yang, “The study of research machine tool guide crawl appearance,” in Coal Mine Machinery, vol. 3, pp. 35–37, Harbin North Pressure Container Limited Company, Harbin, China, 2004.
  18. D. D. Guo, X. D. Liu, and Y. H. Zhang, “Repetitive control strategy of servo system with fiction offset,” in Proceedings of the 21st Chinese Control Conference, pp. 555–558, Zhe Jiang University Press, Zhe Jiang, China, 2002.
  19. J. Zhu, Fuzzy Control Theory and Application, Mechanical Industry Press, 1999.
  20. Y. F. Wang and T. Y. Chai, “Adaptive fuzzy output feedback control for a class of nonlinear MIMO systems,” Journal of System Simulation, vol. 17, no. 10, pp. 2442–2446, 2005. View at Scopus
  21. Y. Zhang and X. X. Yang, “Design for fuzzy immune controller based on genetic algorithm,” Journal of System Simulation, vol. 16, no. 7, pp. 1548–1551, 2004.
  22. S. W. Yang and M. Q. Zheng, “Simulation of nonlinear friction with modeling methodology,” Journal of System Simulation, vol. 14, no. 10, pp. 1365–1368, 2002. View at Scopus
  23. R. J. Lian and C. N. Huang, “Self-organizing fuzzy radial basis function neural-network controller for robotic motion control,” International Journal of Innovative Computing, Information and Control, vol. 8, no. 3, pp. 1955–1971, 2012.
  24. M. R. Soltanpour, J. Khalilpour, and M. Soltani, “Robust nonlinear control of robot manipulator with uncertainties in kinematics. Dynamics and actuator models,” International Journal of Innovative Computing, Information and Control, vol. 8, no. 8, pp. 5487–5498, 2012.
  25. A. Pallegedara, Y. Matsuda, T. Matsumoto, K. Tsukamoto, N. Egashira, and S. Goto, “Teleoperation of robot arms using force-free control and template matching,” International Journal of Innovative Computing, Information and Control, vol. 8, no. 10, pp. 6869–6884, 2012.
  26. S. E. Shafiei and M. R. Soltanpour, “Neural network sliding-mode-PID controller design for electrically driven robot manipulators,” International Journal of Innovative Computing, Information and Control, vol. 7, no. 2, pp. 511–524, 2011.
  27. M. Yue, W. Sun, and P. Hu, “Sliding mode robust control for two-wheeled mobile robot with lower center of gravity,” International Journal of Innovative Computing, Information and Control, vol. 7, no. 2, pp. 637–646, 2011.