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: 89

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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pos. country downloads
total perc.
1 image of flag of Germany Germany 35 39.33%
2 image of flag of United States United States 19 21.35%
3 image of flag of China China 14 15.73%
4 image of flag of Canada Canada 3 3.37%
5 image of flag of No geo information available No geo information available 2 2.25%
6 image of flag of Russian Federation Russian Federation 2 2.25%
7 image of flag of France France 2 2.25%
8 image of flag of Czech Republic Czech Republic 2 2.25%
9 image of flag of Ukraine Ukraine 1 1.12%
10 image of flag of Taiwan Taiwan 1 1.12%
    other countries 8 8.99%

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