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Dynamic model based nonlinear tracking control of a planar parallel manipulator

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Abstract

Based on the dynamic model, a novel nonlinear tracking controller is developed to overcome the nonlinear dynamics and friction of a planar parallel manipulator. The dynamic model is formulated in the active joint space, and the active joint friction is described with the Coulomb + viscous friction model. A nonlinear tracking controller is designed to eliminate the tracking error by using the power function. The nonlinear tracking controller is proven to guarantee asymptotic convergence to zero of both the tracking error and error rate with the Barbalat’s lemma. The trajectory tracking experiment of the proposed controller is implemented on an actual five-bar planar parallel manipulator both at the low-speed and high-speed motion. Moreover, the control performances of the proposed controller are compared with the results of the augmented PD (APD) controller.

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Authors and Affiliations

  1. Department of Automation, University of Science and Technology of China, Hefei, Anhui, 230027, P.R. China

    Wei-wei Shang & Shuang Cong

  2. PKU-HKUST, Shen zhen-Hong Kong Institution, Shenzhen, P.R. China

    Shi-long Jiang

Authors
  1. Wei-wei Shang
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  2. Shuang Cong
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  3. Shi-long Jiang
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Correspondence to Wei-wei Shang.

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Shang, Ww., Cong, S. & Jiang, Sl. Dynamic model based nonlinear tracking control of a planar parallel manipulator. Nonlinear Dyn 60, 597–606 (2010). https://doi.org/10.1007/s11071-009-9617-6

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  • DOI: https://doi.org/10.1007/s11071-009-9617-6

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