Practical Model-based and Robust Control of Parallel Manipulators Using Passivity and Sliding Mode Theory

Abstract

This chapter provides a practical strategy to realize accurate and robust control for 6 DOFs (degrees of freedom) parallel robots. The presented approach consists in two parts. The first basic part is based on the the compensation of the desired dynamics in combination with controller/observer for the single actuators. The passivity formalism offers an excellent framework to design and to tune the closed-loop dynamics, such that the desired behavior is obtained. The basic algorithm is proved to be locally robust towards uncertainties. The second part of the control strategy consists in a sliding mode controller. To keep the practical and computational efficient implementation, the proposed switching control considers explicitly only the friction model. Here we opt for the so called model-decomposition paradigm and we use additional integral action to improve robustness. The proposed approach is substantiated with experimental results demonstrating the effectiveness and success of the strategy that keeps control setup simple and intuitive.

Non-singular terminal sliding mode control for redundantly actuated parallel mechanism

“…To achieve high trajectory tracking precision, many literatures on advanced control strategies of parallel mechanisms have been successfully developed in recent years, for example, fuzzy controller, 17 neural network controller, 18 sliding mode controller, 19 adaptive controller, 20 robust controller, 21 as well as the combination of aforementioned controllers. [22][23][24][25] Although great achievements have been obtained by some researchers, the practical applications of the controllers are still not very promising.…”

Modeling and PDC fuzzy control of planar parallel robot

“…Owing to the drawback of serial robot, parallel manipulators have taken a great interest in many applications, such as high-speed machining, assembly and packaging task, flight simulators, and various medical and space applications. [3][4][5][6][7] Parallel robots are generally characterized by their nonanthropomorphic shape, they are composed of an end effector connected to a base by at least two separate and independent kinematic chain. 8 This multiple kinematic chain provides a high rigidity and agility with a high payload to weight ratio due to the deportation of the actuators to the base and the distribution of the load between different chain.…”

Modelling and Control of Inverse Dynamics for a 5-DOF Parallel Kinematic Polishing Machine

“…B. Achili et al used the coupling of sliding modes and multi-layer perception neural networks to control the trajectory tracking of a C5 parallel robot without an inverse dynamic model [23]. H. Abdellatif et al used a sliding mode to design the six DOFs parallel robot controller [24]. A robust ℋ ∞ method for tracking error control with disturbance is discussed in comparison to common robotic dynamic control [25, 26].…”