Dynamic model based nonlinear tracking control of a planar parallel manipulator

Shang, Weiwei; Cong, Shuang; Jiang, Shengming

doi:10.1007/s11071-009-9617-6

Cited by 27 publications

(19 citation statements)

References 21 publications

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“…and ζ is an upper bound of the tracking error. In the literature [34,41], the sliding surface function of the system is designed as:…”

Section: Neural Network Sliding Mode Controller Design (Nn-smc)mentioning

confidence: 99%

“…In this section, the tracking performances of the NT-SMC designed in (19), the proposed control NN-SMC, and ACFN-SMC schemes are verified for a 2-DOF redundant parallel manipulator [41]. The kinematic and dynamic modeling of the 2-DOF redundant parallel manipulator are described in [12,41] and the corresponding parameters are given in Table I.…”

Section: Simulationsmentioning

confidence: 99%

“…Next, simulations results are reported by using the MATLAB/ Simulink environment. A nonlinear tracking controller (NTC) presented in [41] is also considered here for comparison. In the approach,…”

Section: Simulationsmentioning

confidence: 99%

See 2 more Smart Citations

Adaptive Chattering Free Neural Network Based Sliding Mode Control for Trajectory Tracking of Redundant Parallel Manipulators

Nguyen

Lin

et al. 2018

Asian Journal of Control

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In this paper, an adaptive chattering free neural network-based sliding mode control (ACFN-SMC) method is proposed for tracking trajectories of redundant parallel manipulators. ACFN-SMC combines adaptive chattering free radial basis function neural networks (RBFN), sliding mode control with online updating the robust term parameters, and a nonlinear compensation item for reducing tracking errors. The stability of the closed-loop system with modeling uncertainties, frictional uncertainties, and external disturbances is ensured by using the Lyapunov method. The proposed controller has a simple structure and little computation time while securing dynamic performance with expected quality in tracking trajectories of redundant parallel manipulators. In addition, the ACFN-SMC strategy does not need to know the upper bound of any uncertainties. From the simulation results, it is evident that the proposed control strategy not only has significantly higher robustness capability for uncertainties but also can achieve better chattering elimination when compared with those using existing intelligent control schemes.

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“…and ζ is an upper bound of the tracking error. In the literature [34,41], the sliding surface function of the system is designed as:…”

Section: Neural Network Sliding Mode Controller Design (Nn-smc)mentioning

confidence: 99%

Section: Simulationsmentioning

confidence: 99%

See 1 more Smart Citation

Adaptive Chattering Free Neural Network Based Sliding Mode Control for Trajectory Tracking of Redundant Parallel Manipulators

Nguyen

Lin

et al. 2018

Asian Journal of Control

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“…In most applications, the robot must move rapidly from one position to another position or follow a desired trajectory in three dimensional spaces with high precision. In order to perform this task, recently, several control methods have been investigated such as computed torque with PD, PID controller [3][4][5][6][7][8][9]. The computed torque…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modelling of 3-RUS Spatial Parallel Robot Manipulator

Quang¹,

Quyền²,

Hai³

et al. 2020

Review of Computer Engineering Research

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Parallel manipulators are characterized as having closed-loop kinematic chains. Parallel robots have received increasing attention due to their inherent advantages over conventional serial mechanism, such as high rigidity, high load capacity, high velocity, and high precision. A definite advantage of parallel robots is the fact that, in most cases, actuators can be placed on the truss, thus achieving a limited weight for the moving parts, which makes it possible for parallel robots to move at a high speed. These advantages avoid the drawbacks on serial ones and make the mobile platforms of the parallel manipulators carry out higher performances. Therefore, parallel manipulators have been applied to the industrial manufacturing, flight simulation, medical resuscitation, and so on. The basis for model-based control of parallel manipulators is an efficient formulation of the motion equations. In this paper a formulation of the motion equations in redundant coordinates is presented for parallel manipulators. The fully coupled non-linear equations of motion of 3-RUS spatial parallel manipulator having 3 DOF with Revolute-Universal-Spherical joints are obtained by using the Lagrange equations with multipliers for constrained multibody systems. Contribution/Originality: This paper presented the modelling of motion for 3-RUS spatial parallel manipulator by using the redundant generalized coordinates and the Lagrangian multipliers. A novel formulation of Coriolis/centrifugal matrix is constructed directly in matrix based manner by using Kronecker product. The skew symmetry property of dynamic model of robot manipulators is guaranteed by the proposed Coriolis/centrifugal matrix. Then, the equations of motion in DAEs form were transformed to ordinary differential equations.

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“…Among static friction models the representatives are the Coulomb plus viscous friction model (Shang, et al, 2010) and the exponential friction model (Marton, et al, 2011), these models can't predict dynamic friction. Though the seven parameters model (Armstrong, et al, 1994, Berger, 2002 can reflect the friction's static and dynamic characteristics, but it has no explicit physical content for the model's paraameters , and moreover it contains redundant parameters.…”

Section: Introductionmentioning

confidence: 99%

Dynamic friction modelling without drift and its application in the simulation of a valve controlled hydraulic cylinder system

Yang

Plummer

2014

JAMDSM

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The frictional modelling literature is reviewed, and it is demonstrated that unrealistic drift results when the shape coefficient is 1.0 for the LuGre and the integral friction models. Drift will not occur but other dynamic friction characteristics can't be represented when the shape coefficient is 0. Based on the above, the LuGre friction model and the Integral friction model are improved. The velocity-friction characteristic, the stick-slip and the cycling caused by friction and the drift are compared in simulation. The results show that the improved friction model well reflects realistic friction dynamic characteristics and avoids drift. Finally, the improved friction model is used in a nonlinear mathematic model of a valve controlled hydraulic cylinder system. The cylinder's motion at low velocity is simulated and the related experimental results are presented. The results show that the improved friction model gives realistic low velocity motion of the cylinder.

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Dynamic model based nonlinear tracking control of a planar parallel manipulator

Cited by 27 publications

References 21 publications

Adaptive Chattering Free Neural Network Based Sliding Mode Control for Trajectory Tracking of Redundant Parallel Manipulators

Adaptive Chattering Free Neural Network Based Sliding Mode Control for Trajectory Tracking of Redundant Parallel Manipulators

Dynamic Modelling of 3-RUS Spatial Parallel Robot Manipulator

Dynamic friction modelling without drift and its application in the simulation of a valve controlled hydraulic cylinder system

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