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

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dc.identifier.uri http://dx.doi.org/10.15488/5028
dc.identifier.uri https://www.repo.uni-hannover.de/handle/123456789/5072
dc.contributor.author Abdellatif, Houssem
dc.contributor.author Kotlarski, Jens
dc.contributor.author Ortmaier, Tobias
dc.contributor.author Heimann, Bodo
dc.date.accessioned 2019-06-26T12:57:10Z
dc.date.available 2019-06-26T12:57:10Z
dc.date.issued 2010
dc.identifier.citation 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: https://doi.org/10.5772/7335
dc.description.abstract 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. eng
dc.language.iso eng
dc.publisher London : IntechOpen
dc.rights CC BY-NC-SA 3.0 Unported
dc.rights.uri https://creativecommons.org/licenses/by-nc-sa/3.0/
dc.subject Control engineering eng
dc.subject Parallel manipulator eng
dc.subject Actuator eng
dc.subject Passivity eng
dc.subject Robust control eng
dc.subject Formalism (philosophy) eng
dc.subject Computer science eng
dc.subject Control theory eng
dc.subject Observer (quantum physics) eng
dc.subject Control theory eng
dc.subject Robustness (computer science) eng
dc.subject.ddc 620 | Ingenieurwissenschaften und Maschinenbau ger
dc.title Practical Model-based and Robust Control of Parallel Manipulators Using Passivity and Sliding Mode Theory
dc.type bookPart
dc.type Text
dc.relation.isbn 978-953-7619-78-7
dc.relation.doi https://doi.org/10.5772/7335
dc.bibliographicCitation.firstPage 63
dc.bibliographicCitation.lastPage 84
dc.description.version publishedVersion
tib.accessRights frei zug�nglich


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