Synchronization Full-Order Terminal Sliding Mode Control for an Uncertain 3-DOF Planar Parallel Robotic Manipulator
Abstract
:Featured Application
Abstract
1. Introduction
2. Problem Formulations
2.1. Dynamic Model of Parallel Robot Manipulator
2.2. Definition of Synchronization Error Cross-Coupling Error
3. Design Procedure of Control Scheme
3.1. Design of S-FOTSMS
3.2. Design of S-FOTSMC
4. Numerical Simulation Studies
5. Conclusions
Author Contributions
Funding
Conflicts of Interest
Appendix A
Design of the SMC
Appendix B
Design of the S-SMC
Appendix C
Design Nonsingular Fast Terminal Sliding Mode Control
References
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Robot Parameters | Description | Value | Unit |
---|---|---|---|
The lower part length of each leg | 0.4 | m | |
The upper part length of each leg | 0.6 | m | |
The dimension of the motion platform | 0.2 | m | |
Distance from the joint to the mass center of each lower leg | 0.2 | m | |
Distance from the joint to the mass center of each upper leg | 0.3 | m | |
Mass of each lower leg | 5.12 | kg | |
Mass of each upper leg | 7.39 | kg | |
Mass of the motion platform | 3.84 | kg | |
Inertia moment of the lower of ith leg | 91 × 10−3 | kg·m2 | |
Inertia moment of the upper of ith leg | 267 × 10−3 | kg·m2 | |
Inertia moment of the motion platform | 65 × 10−3 | kg·m2 |
Control Algorithm | Control Parameters | Control Parameter Values |
---|---|---|
SMC | ||
S-SMC | ||
NFTSMC | ||
S-FOTSMC |
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Doan, Q.V.; Le, T.D.; Vo, A.T. Synchronization Full-Order Terminal Sliding Mode Control for an Uncertain 3-DOF Planar Parallel Robotic Manipulator. Appl. Sci. 2019, 9, 1756. https://doi.org/10.3390/app9091756
Doan QV, Le TD, Vo AT. Synchronization Full-Order Terminal Sliding Mode Control for an Uncertain 3-DOF Planar Parallel Robotic Manipulator. Applied Sciences. 2019; 9(9):1756. https://doi.org/10.3390/app9091756
Chicago/Turabian StyleDoan, Quang Vinh, Tien Dung Le, and Anh Tuan Vo. 2019. "Synchronization Full-Order Terminal Sliding Mode Control for an Uncertain 3-DOF Planar Parallel Robotic Manipulator" Applied Sciences 9, no. 9: 1756. https://doi.org/10.3390/app9091756