Sliding mode control of a novel 6-DOF parallel manipulator with rotary actuators

Jafarinasab, Mohammad; Keshmiri, Mehdi; Azizan, H.; Danesh, Mohammad

doi:10.1109/mmar.2011.6031348

Cited by 4 publications

(1 citation statement)

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“…28 This technique is widely spread in serial robotics 8,29,30 and has been implemented on several parallel platforms. 23,31 From this, the literature on the control of parallel robot based on ODE models is very large and mainly depends on the complexity of the studied manipulator and the targeted control strategy such as the sliding mode control, 32,33 the H 1 control, 34,35 the robust TS control, 3 the adaptive control, 36,37 the passivity-based approach, 38 and other variances. 10,23,[39][40][41][42][43] Despite this nonexhaustive scope, models of CKCs are still complex and highly nonlinear in most cases which makes the guarantee of stability in the Lyapunov sense quite difficult.…”

Section: Introductionmentioning

confidence: 99%

Modeling and PDC fuzzy control of planar parallel robot

Allouche

Dequidt

Vermeiren

et al. 2017

International Journal of Advanced Robotic Systems

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Many works in the literature have studied the kinematical and dynamical issues of parallel robots. But it is still difficult to extend the vast control strategies to parallel mechanisms due to the complexity of the model-based control. This complexity is mainly caused by the presence of multiple closed kinematic chains, making the system naturally described by a set of differential-algebraic equations. The aim of this work is to control a two-degree-of-freedom parallel manipulator. A mechanical model based on differential-algebraic equations is given. The goal is to use the structural characteristics of the mechanical system to reduce the complexity of the nonlinear model. Therefore, a trajectory tracking control is achieved using the Takagi-Sugeno fuzzy model derived from the differential-algebraic equation forms and its linear matrix inequality constraints formulation. Simulation results show that the proposed approach based on differential-algebraic equations and Takagi-Sugeno fuzzy modeling leads to a better robustness against the structural uncertainties.

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