A Fixed‐Time Composite Control With Variable Exponent Coefficients for Stewart Parallel Mechanism Tracking in Task Space
Yu Tang,
Guoqin Gao
Abstract:To improve tracking control performance in the task space of the Stewart parallel mechanism (SPM) with uncertainties of modeling errors and external disturbances in our developed rust removal sandblasting robot for the surface roughness processing of a bridge's steel box girder, a fixed‐time composite control with variable exponent coefficients (VEC‐FxTCC) approach for multi‐input multi‐output (MIMO) nonlinear robotic systems is developed. Firstly, by devising only one regulation term with a variable exponent … Show more
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