Decoupled Sliding Mode Control for a Novel 3-DOF Parallel Manipulator with Actuation Redundancy
This paper presents a decoupled nonsingular terminal sliding mode controller (DNTSMC) for a novel 3-DOF parallel manipulator with actuation redundancy. According to kinematic analysis, the inverse dynamic model for a novel 3-DOF redundantly actuated parallel manipulator is formulated in the task spa...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2015-05-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/60508 |
| _version_ | 1818158083810000896 |
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| author | Niu Xuemei Guoqin Gao Xinjun Liu Zhiming Fang |
| author_facet | Niu Xuemei Guoqin Gao Xinjun Liu Zhiming Fang |
| author_sort | Niu Xuemei |
| collection | DOAJ |
| description | This paper presents a decoupled nonsingular terminal sliding mode controller (DNTSMC) for a novel 3-DOF parallel manipulator with actuation redundancy. According to kinematic analysis, the inverse dynamic model for a novel 3-DOF redundantly actuated parallel manipulator is formulated in the task space using Lagrangian formalism and decoupled into three entirely independent subsystems under generalized coordinates to significantly reduce system complexity. Based on the dynamic model, a decoupled sliding mode control strategy is proposed for the parallel manipulator; the idea behind this strategy is to design a nonsingular terminal sliding mode controller for each subsystem, which can drive states of three subsystems to the original equilibrium points simultaneously by two intermediate variables. Additionally, a RBF neural network is used to compensate the cross-coupling force and gravity to enhance the control precision. Simulation and experimental results show that the proposed DNTSMC can achieve better control performances compared with the conventional sliding mode controller (SMC) and the DNTSMC without compensator. |
| first_indexed | 2024-12-11T15:24:27Z |
| format | Article |
| id | doaj.art-2554a214e6164d86a00e9340ce4e7bf2 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-11T15:24:27Z |
| publishDate | 2015-05-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-2554a214e6164d86a00e9340ce4e7bf22022-12-22T01:00:15ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142015-05-011210.5772/6050810.5772_60508Decoupled Sliding Mode Control for a Novel 3-DOF Parallel Manipulator with Actuation RedundancyNiu Xuemei0Guoqin Gao1Xinjun Liu2Zhiming Fang3 School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, Jiangsu, China School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, Jiangsu, China Department of Mechanical Engineering, Tsinghua University, Beijing, China School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, Jiangsu, ChinaThis paper presents a decoupled nonsingular terminal sliding mode controller (DNTSMC) for a novel 3-DOF parallel manipulator with actuation redundancy. According to kinematic analysis, the inverse dynamic model for a novel 3-DOF redundantly actuated parallel manipulator is formulated in the task space using Lagrangian formalism and decoupled into three entirely independent subsystems under generalized coordinates to significantly reduce system complexity. Based on the dynamic model, a decoupled sliding mode control strategy is proposed for the parallel manipulator; the idea behind this strategy is to design a nonsingular terminal sliding mode controller for each subsystem, which can drive states of three subsystems to the original equilibrium points simultaneously by two intermediate variables. Additionally, a RBF neural network is used to compensate the cross-coupling force and gravity to enhance the control precision. Simulation and experimental results show that the proposed DNTSMC can achieve better control performances compared with the conventional sliding mode controller (SMC) and the DNTSMC without compensator.https://doi.org/10.5772/60508 |
| spellingShingle | Niu Xuemei Guoqin Gao Xinjun Liu Zhiming Fang Decoupled Sliding Mode Control for a Novel 3-DOF Parallel Manipulator with Actuation Redundancy International Journal of Advanced Robotic Systems |
| title | Decoupled Sliding Mode Control for a Novel 3-DOF Parallel Manipulator with Actuation Redundancy |
| title_full | Decoupled Sliding Mode Control for a Novel 3-DOF Parallel Manipulator with Actuation Redundancy |
| title_fullStr | Decoupled Sliding Mode Control for a Novel 3-DOF Parallel Manipulator with Actuation Redundancy |
| title_full_unstemmed | Decoupled Sliding Mode Control for a Novel 3-DOF Parallel Manipulator with Actuation Redundancy |
| title_short | Decoupled Sliding Mode Control for a Novel 3-DOF Parallel Manipulator with Actuation Redundancy |
| title_sort | decoupled sliding mode control for a novel 3 dof parallel manipulator with actuation redundancy |
| url | https://doi.org/10.5772/60508 |
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