Research on Dual-robot Synchronous Control of Aircraft Flexible Tooling System with Fuzzy Sliding Mode Control

摘要

In order to achieve high-precision synchronous motion control of dual-robot in a robotic aircraft flexible tooling system,a cross-coupling method based on fuzzy sliding mode control (FSMC) is proposed in this paper.First,the dynamic model of the dual-robot drive system is established.Then,a cross-coupling scheme with FSMC is developed,in which fuzzy logic control is used to generate the hitting control signal.The stability of the system is guaranteed in the sense of the Lyapunov stability theorem.Finally,simulation results compared with the conventional PID control are given to indicate that the control performance of the dual-robot system is satisfactory and the proposed scheme can achieve preferable synchronous performance and it is robust with regard to uncertainties and disturbances.