Open document
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General information |
| Author |
Guoqin Gao; Wen, Juan; Liu, Xinjun; Zhang, Zhigang |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
For any multi‐DOF parallel mechanism, its
system model is difficult to accurately establish and highperformance
control is hard to achieve because of its high
nonlinearity and strong coupling characteristics. In view
of this, for a 6‐PTRT parallel mechanism, the coupling
characteristics are first analysed and then a novel smooth
sliding mode control algorithm based on synchronization
error is designed and the systemʹs stability is proven ‐ in
theory ‐ according to the Lyapunov stability theorem. By
introducing the defined synchronization error into the
smooth sliding mode control, the proposed method can
resist the coupling effect among the branches of the
parallel mechanism and realize the coordinated,
synchronous and more accurate movement of each
branch of the parallel mechanism with no accurate
system model, whereby the tracking error of each branch
may converge on zero simultaneously. The simulation
results show that the synchronous smooth sliding mode
control method proposed here has a shorter response
time and a higher control precision when compared with
the smooth sliding mode control method. By considering
the errors of the adjacent branches, the synchronous
coordination among the branches of the parallel
mechanism with the coupling effect is effectively
improved. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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