Advanced Control Methodologies in Parallel Robotic Systems

Buzurović, Ivan

doi:10.4172/2168-9695.s6-e001

Cited by 1 publication

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References 26 publications

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“…erefore, the dynamic model has some uncertainties and the traditional dynamic control generally cannot effectively solve the uncertainty problem. In this case, the advanced controllers can improve the trajectory tracking performance, high kinematic accuracy, and system stability [18]. Sliding mode control (SMC) is a robust method that has an appropriate performance to overcome the disturbance and uncertainties, which is extremely effective when the bounds of disturbances and uncertainties are known [19].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fuzzy Sliding Mode Control for a 3-DOF Parallel Manipulator with Parameters Uncertainties

et al. 2020

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Parallel manipulators possess the advantages of being compact structure, high stiffness, stability and high accuracy, so such parallel manipulators have been widely employed in application fields as diverse as parallel kinematic machine, motion simulator platform, medical rehabilitation device, and so on. Due to the complexity of the closed-loop structural system, an accurate dynamic model is very difficult to be derived in the absence of some uncertainties parameters and external disturbances. In order to improve the trajectory tracking accuracy with time-varying and nonlinear parameters, this paper addresses the design and implement of adaptive fuzzy sliding mode control (AFSMC) for a three-degree-of-freedom (DOF) parallel manipulator, where internal force term can be linearly separated into a regression matrix and a parameter vector that contains the estimated errors. Furthermore, fuzzy inference unit is utilized to modify the gain parameters in real-time by using the state feedback from the task space and the adaptive law is performed to update uncertainties in dynamic parameters. The proposed controller is deduced in the sense of Lyapunov theory to guarantee the stability while improving the trajectory tracking performance. Finally, simulation experiment results demonstrate that the proposed control method is insensitive to uncertainties and disturbances and permits to decrease the requirement for the bound of these uncertainties, which validate the effectiveness of the developed control method and exhibit good trajectory tracking performance compared with sliding mode control (SMC) and fuzzy sliding model control (FSMC).

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Section: Introductionmentioning

confidence: 99%