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

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Abdellatif, Houssem; Kotlarski, Jens; Ortmaier, Tobias; Heimann, Bodo: Practical Model-based and Robust Control of Parallel Manipulators Using Passivity and Sliding Mode Theory. In: Abdellatif, H. (Ed.): Robotics 2010 Current and Future Challenges. - London: IntechOpen, 2010, S. 63-84. DOI:

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Sum total of downloads: 31

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.
License of this version: CC BY-NC-SA 3.0 Unported
Document Type: bookPart
Publishing status: publishedVersion
Issue Date: 2010
Appears in Collections:Fakultät für Maschinenbau

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1 image of flag of Germany Germany 19 61.29%
2 image of flag of No geo information available No geo information available 2 6.45%
3 image of flag of Russian Federation Russian Federation 2 6.45%
4 image of flag of France France 2 6.45%
5 image of flag of Turkey Turkey 1 3.23%
6 image of flag of Netherlands Netherlands 1 3.23%
7 image of flag of Italy Italy 1 3.23%
8 image of flag of Estonia Estonia 1 3.23%
9 image of flag of China China 1 3.23%
10 image of flag of Canada Canada 1 3.23%

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