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- Title
Synchronization Full-Order Terminal Sliding Mode Control for an Uncertain 3-DOF Planar Parallel Robotic Manipulator.
- Authors
Doan, Quang Vinh; Le, Tien Dung; Vo, Anh Tuan
- Abstract
Featured Application: The proposed control method could be applied to not only the joint position tracking control for parallel robotic manipulators but also other mechanical systems such as the position synchronization control of multiple motion axes, mobile robotics, and serial robotic manipulators. The control of a parallel robotic manipulator with uncertain dynamics is a noteworthy challenge due to the complicated dynamic model; multi-closed-loop chains; and singularities. This study develops a Synchronization Full-Order Terminal Sliding Mode Control (S-FOTSMC) for a 3-DOF planar parallel robotic manipulator with uncertain dynamics. First, to achieve faster convergence of position error and synchronization error variables with minimum values at the same time, a Synchronization Full-Order Terminal Sliding Mode Surface (S-FOTSMS) is constructed in the cross-coupling error's state space. Next; an integral of the switching control term is applied; that means, a continuous control term is extended for rejecting the effects of chattering. Finally, an SFOTSMC is designed to guarantee that sliding mode motion will occur. Consequently, the stability and the robustness of the proposed method are secured with high-performance irrespective of the influences of uncertain terms in the robot system. The simulation performances show the effectiveness of our proposed system for position tracking control of a 3-DOF planar parallel robotic manipulator.
- Subjects
MANIPULATORS (Machinery); PARALLEL robots; SLIDING mode control; TRACKING control systems; SYNCHRONIZATION
- Publication
Applied Sciences (2076-3417), 2019, Vol 9, Issue 9, p1756
- ISSN
2076-3417
- Publication type
Article
- DOI
10.3390/app9091756