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- Title
Nonlinear adaptive task space control for a 2-DOF redundantly actuated parallel manipulator.
- Authors
Weiwei Shang; Shuang Cong
- Abstract
Abstract  A nonlinear adaptive (NA) controller in the task space is developed for the trajectory tracking of a 2-DOF redundantly actuated parallel manipulator. The dynamic model with nonlinear friction is established in the task space for the parallel manipulator, and the linear parameterization expression of the dynamic model is formulated. Based on the dynamic model, a new control law including adaptive dynamics compensation, adaptive friction compensation and error elimination items is designed. After defining a quadratic performance index, the parameter update law is derived with the gradient descent algorithm. The stability of the parallel manipulator system is proved by the Lyapunov theorem, and the convergence of the tracking error and the error rate is proved by the Barbalatâs lemma. The NA controller is implemented in the trajectory tracking experiments of an actual 2-DOF redundantly actuated parallel manipulator, and the experiment results are compared with the APD controller.
- Subjects
NONLINEAR control theory; ADAPTIVE control systems; DEGREES of freedom; MANIPULATORS (Machinery); FRICTION; ALGORITHMS; LYAPUNOV stability; STOCHASTIC convergence
- Publication
Nonlinear Dynamics, 2010, Vol 59, Issue 1/2, p61
- ISSN
0924-090X
- Publication type
Article
- DOI
10.1007/s11071-009-9520-1