Augmented Nonlinear PD Controller for a Redundantly Actuated Parallel Manipulator

Shang, Wei; Cong, Shuang; Li, Zigang; Jiang, Shi Long

doi:10.1163/016918609x12496340080490

Cited by 53 publications

(39 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The feedback part is a simple PD controller that guarantees the stability and the dynamical part represents the nonlinear dynamics of the system that compensates its effects and enhances the control performance. The control law form of APD looks as follows [19]:…”

Section: Augmented Proportional Derivative Controllermentioning

confidence: 99%

“…Computed torque (CT) control exploits the full knowledge about the nonlinear system dynamics, leading to a linear closed-loop system in terms of tracking error [18]. Also the Augmented PD (APD) is a model-based strategy, where the dynamic part of the controller is computed from both the desired and measured states improving the global performance of the control mission [19]. Nevertheless, PKMs are featured with time-varying parameters (e.g.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

From Non-model-Based to Model-Based Control of PKMs: A Comparative Study

Saied

Chemori

Rafei

et al. 2018

Mechanisms and Machine Science

View full text Add to dashboard Cite

Section: Augmented Proportional Derivative Controllermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

From Non-model-Based to Model-Based Control of PKMs: A Comparative Study

Saied

Chemori

Rafei

et al. 2018

Mechanisms and Machine Science

View full text Add to dashboard Cite

“…1, one can have an open-chain system including three independent planar 2-DOF serial manipulators, each of which contains an active joint and a passive joint. According to [17], the dynamic model of each planar 2-DOF serial manipulator can be formulated as…”

Section: Dynamic Modelingmentioning

confidence: 99%

Dynamic model based cross-coupled control of parallel manipulators

Shang

Cong

2011

2011 9th World Congress on Intelligent Control and Automation

View full text Add to dashboard Cite

The dynamic model based cross-coupled control is developed to improve the coordination motion relation between multiple kinematic chains in parallel manipulators. According to the mechanism characteristic of the parallel manipulators, two different types of synchronization error of the kinematic chains are defined in the joint space of active joints and in the task space of end-effector, respectively. By using the synchronization error, the cross-coupled control law in the task space is designed based on the dynamic model. The trajectory tracking experiments of an actual planar parallel manipulator are carried out, and then the control performances between the cross-coupled controller and the augmented PD (APD) controller are compared.

show abstract

“…In the APD controller, 9 the control law contains the tracking control term and the feed-forward compensation term. The tracking control term is realized by the PD control algorithm.…”

Section: Introductionmentioning

confidence: 99%

Adaptive computed torque control for a parallel manipulator with redundant actuation

Shang

Cong

2011

Robotica

Self Cite

View full text Add to dashboard Cite

SUMMARYAn adaptive computed torque (ACT) controller in the task space is proposed for the trajectory tracking of a parallel manipulator with redundant actuation. The dynamic model, including the active joint friction, is established in the task space for the parallel manipulator, and the linear parameterization expression with respect to the dynamic and friction parameters is formulated. On the basis of the dynamic model, a new control law, which contains adaptive dynamics compensation, friction compensation, and tracking error elimination terms, is designed. After defining the state-space model of the error system, the parameter adaptation law is derived by using the Lyapunov method, and the convergence of the tracking error and the error rate is proved by using the Barbalat's lemma. The ACT controller is implemented in the trajectory tracking experiments of an actual 2-DOF parallel manipulator with redundant actuation, and the experiment results are compared with the computed torque controller.

show abstract

Augmented Nonlinear PD Controller for a Redundantly Actuated Parallel Manipulator

Cited by 53 publications

References 18 publications

From Non-model-Based to Model-Based Control of PKMs: A Comparative Study

From Non-model-Based to Model-Based Control of PKMs: A Comparative Study

Dynamic model based cross-coupled control of parallel manipulators

Adaptive computed torque control for a parallel manipulator with redundant actuation

Contact Info

Product

Resources

About