文章基本信息

标题：Research on Grey Sliding Mode Control of Motor System of Fruit Harvesting Manipulator Joint
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作者：Jueping Bu ; Yongfeng Cui ; Hideki Harasawa 等
期刊名称：Advance Journal of Food Science and Technology
印刷版ISSN：2042-4868
电子版ISSN：2042-4876
出版年度：2015
卷号：7
期号：8
页码：566-572
出版社：MAXWELL Science Publication
摘要：The sliding mode control algorithm based on grey prediction theory is proposed in this study, aiming at the uncertainties in the servo system of fruit harvesting robot and the external disturbances that may affect the control quality of conventional sliding mode control algorithm. The proposed algorithm uses the grey theory ability to unknown information data to establish the grey model to the uncertainty and real-time compensate the unmodeled dynamics and the interference signal of system. Meanwhile, an improved reaching law direction is proposed to resist chattering and improve control accuracy. The simulation results show that the proposed sliding mode control algorithm effectively predicts and compensates the unmodeled dynamics and disturbances signal in the DC motor servo system of the fruit harvesting robot and improves the control precision of controller which provides the theoretical basis for the industrial application based on the grey prediction theory of sliding mode control algorithm.
关键词：Digital simulation ; fruit harvesting robot ; grey prediction ; interference ; noise ; sliding mode control