Decoupling control for spatial six-degree-of-freedom electro-hydraulic parallel robot

Yang, Chifu; Huang, Qitao; Han, Junwei

doi:10.1016/j.rcim.2011.06.002

Cited by 62 publications

(39 citation statements)

References 28 publications

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“….8mm, L 3 =216mm, and parameters for the proposed controller are designed as λ i =30, γ i =9/7, Φ z1 =Φ z2 =0.005, Z u1 =Z u2 =0.9, k i =500, k wi =20, c i =0.06rand (2,5) and σ i =15 with i=1,2,3.…”

Section: Simulation Resultsmentioning

confidence: 99%

Decoupled Sliding Mode Control for a Novel 3-DOF Parallel Manipulator with Actuation Redundancy

Xuemei

Gao

Liu

et al. 2015

International Journal of Advanced Robotic Systems

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This paper presents a decoupled nonsingular terminal sliding mode controller (DNTSMC) for a novel 3-DOF parallel manipulator with actuation redundancy. According to kinematic analysis, the inverse dynamic model for a novel 3-DOF redundantly actuated parallel manipulator is formulated in the task space using Lagrangian formalism and decoupled into three entirely independent subsystems under generalized coordinates to significantly reduce system complexity. Based on the dynamic model, a decoupled sliding mode control strategy is proposed for the parallel manipulator; the idea behind this strategy is to design a nonsingular terminal sliding mode controller for each subsystem, which can drive states of three subsystems to the original equilibrium points simultaneously by two intermediate variables. Additionally, a RBF neural network is used to compensate the cross-coupling force and gravity to enhance the control precision. Simulation and experimental results show that the proposed DNTSMC can achieve better control performances compared with the conventional sliding mode controller (SMC) and the DNTSMC without compensator.

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Section: Simulation Resultsmentioning

confidence: 99%

Decoupled Sliding Mode Control for a Novel 3-DOF Parallel Manipulator with Actuation Redundancy

Xuemei

Gao

Liu

et al. 2015

International Journal of Advanced Robotic Systems

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“…If the disturbance force is ignored, the inner loop of the EHCLS can be seen as a typical force closed-loop, and some conventional control methods can be employed to improve its replicating ability. A linear feedback controller is often employed to keep stable tracking performance of electro-hydraulic actuator systems, such as the proportionalintegral-derivative (PID) controller (Shen et al, 2011;Yang et al, 2012), the three variables feedback controller (Shen et al, 2013(Shen et al, , 2016Xu et al, 2008;Yao et al, 2013a) and feedback linearization (Plummer, 1997). However, nonlinear properties of a hydraulic force servo system always limit force tracking accuracy.…”

Section: Introductionmentioning

confidence: 99%

Force tracking control of an electro-hydraulic control loading system on a flight simulator using inverse model control and a damping compensator

Zhao

Shen

Zhu

et al. 2016

Transactions of the Institute of Measurement and Control

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The electro-hydraulic control loading system (EHCLS) of a flight simulator is mainly used to simulate the force feel of flying a real airplane. A doubleloop model, including control and hydraulic mechanism of the EHCLS, is established and its force-displacement impedance is analysed to evaluate force tracking performances and its stability. An approximated feed-forward inverse model controller is designed using a zero phase error compensation method for expanding the frequency bandwidth of the inner loop because the identified force closed-loop model is a nonminimum phase system and its direct inverse model is unstable. Modelling error between the designed feed-forward inverse model and the actual plant is discussed and a damping compensator is presented to increase stability of the EHCLS. Theoretical analysis, simulation and experimental results show that the control methods presented are feasible and can effectively improve force feel fidelity and stability of the EHCLS.

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“…Recently, several control schemes have been proposed for the trajectory tracking of a Stewart platform; e.g., decoupling control, 18 mode-based control, 19,20 adaptive control, 21 and sliding mode control (SMC). 22 In particular, SMC has features that ensure the system is insensitive to uncertainties on the sliding surface, 23 and it can be employed in nonlinear multi-input multi-output (MIMO) Adaptive vector sliding mode fault-tolerant control of Stewart platform systems.…”

Section: Introductionmentioning

confidence: 99%

Adaptive vector sliding mode fault-tolerant control of the uncertain Stewart platform based on position measurements only

Meng

Zhang

et al. 2014

Robotica

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Link to this article: http://journals.cambridge.org/abstract_S0263574714002276 How to cite this article: Qiang Meng, Tao Zhang, Jing-feng He and Jing-yan Song Adaptive vector sliding mode fault-tolerant control of the uncertain Stewart platform based on position measurements only. Robotica, SUMMARYThis paper investigates the trajectory tracking of a Stewart platform, which is a typical multi-input multi-output nonlinear system, with unmodeled dynamics, parameter uncertainties, friction, and unpredictable actuator faults. An adaptive vector sliding mode fault-tolerant control law is derived to ensure the system is insensitive to uncertainties and drive the state variable errors of the closed-loop system to converge to the origin. Moreover, novel adaptive laws are proposed to update the upper boundary of uncertainty according to the actual system state, which greatly reduces the chattering of sliding mode control. Furthermore, velocity signals are estimated by introducing a simple nonlinear observer, resulting in the proposed controller requiring position measurements only. Finally, numerical simulations illustrate the effectiveness of the proposed control scheme.

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Decoupling control for spatial six-degree-of-freedom electro-hydraulic parallel robot

Cited by 62 publications

References 28 publications

Decoupled Sliding Mode Control for a Novel 3-DOF Parallel Manipulator with Actuation Redundancy

Decoupled Sliding Mode Control for a Novel 3-DOF Parallel Manipulator with Actuation Redundancy

Force tracking control of an electro-hydraulic control loading system on a flight simulator using inverse model control and a damping compensator

Adaptive vector sliding mode fault-tolerant control of the uncertain Stewart platform based on position measurements only

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