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     Advance Journal of Food Science and Technology

    Abstract
2015(Vol.7, Issue:8)
Article Information:

Research on Grey Sliding Mode Control of Motor System of Fruit Harvesting Manipulator Joint

Jueping Bu, Yongfeng Cui and Hideki Harasawa
Corresponding Author:  Yongfeng Cui 
Submitted: ‎August ‎01, ‎2014
Accepted: ‎September ‎22, ‎2014
Published: March 15, 2015
Abstract:
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.

Key words:  Digital simulation, fruit harvesting robot, grey prediction, interference, noise, sliding mode control,
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Cite this Reference:
Jueping Bu, Yongfeng Cui and Hideki Harasawa, . Research on Grey Sliding Mode Control of Motor System of Fruit Harvesting Manipulator Joint. Advance Journal of Food Science and Technology, (8): 566-572.
ISSN (Online):  2042-4876
ISSN (Print):   2042-4868
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