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

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="432129.fig.009a" src="https://static.hindawi.com/articles/mpe/volume-2012/432129/figures/432129.fig.009a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Position trailing curve of fuzzy PID control </td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="432129.fig.009b" src="https://static.hindawi.com/articles/mpe/volume-2012/432129/figures/432129.fig.009b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b> Speed trailing curve of fuzzy PID control</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="432129.fig.009c" src="https://static.hindawi.com/articles/mpe/volume-2012/432129/figures/432129.fig.009c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b> Position tracking error curve of fuzzy PID control</td></tr></table></td></tr></table>

<table>The simulation curve of fuzzy PID control.</table>

Mathematical Problems in Engineering

fig9

Figure 9

Figure 9: Low-Speed Control of Heavy-Load Transfer Robot with Long Telescopic Boom Based on Stribeck Friction Model 