Abstract
In this study, a new terminal sliding mode control (TSMC) prototype robust nonlinear task space control approach is developed for 6 degree of freedom (DOF) parallel robotic manipulators in light of TSMC principle integrated with Lyapunov redesign method. Corresponding stability analysis is presented to lay a foundation for analytical understanding in generic theoretical aspects and safe operation for real systems. An illustrative example of a 6 DOF parallel robot is bench tested to validate the effectiveness of the proposed approach.
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Recommended by Editorial Board member Dong Hwan Kim under the direction of Editor Jae Weon Choi. This work was supported by the National Nature Science Foundation of China (Grant: 61004080, 60825302, 60774015), the High Technology Research and Development Program of China (Grant: 2009AA04Z162), and Sponsored by the Program of Shanghai Subject Chief Scientist, and “Shu Guang” project supported by Shanghai Municipal Education Commission and Shanghai Education Development Foundation and the Fundamental Research Funds for the Central Universities (Grant: 09CX04057A).
Dongya Zhao received his B.S. degree from Shandong University, Jinan, China, in 1998, an M.S. degree from Tianhua Institute of Chemical Machinery & Automation, Lanzhou, China, in 2002 and a Ph.D. from Shanghai Jiao Tong University, Shanghai, Chian, in 2009. Since 2002, he has been with College of Mechanical and Electronic Engineering, China University of Petroleum, where he is currently a lecture. His research interests include robot control, sliding mode control and nonlinear system control and analysis.
Shaoyuan Li received his B.S. and M.S. degrees from Hebei University of Technology, Tianjin, China, in 1987 and 1992, respectively. And he received his Ph.D. degree from the Department of Computer and System Science of Nankai University, Tianjin, China, in 1997. Now he is a professor with the Institute of Automation of Shanghai Jiao Tong University. His research interests include predictive control, fuzzy system, robot control, sliding mode control, nonlinear control, and so on.
Quanmin Zhu is a professor in Control Systems at Bristol Institute of Technology (BIT), University of the West of England (UWE), Bristol, UK. He obtained his M.Sc. in Harbin Institute of Technology, China in 1983 and his Ph.D. in Faculty of Engineering, University of Warwick, UK in 1989. His main research interest is in the area of nonlinear system modelling, identification, and control. He has published over 100 papers on these topics and provided consultancy to various industries. Currently Professor Zhu is acting as Associate Editor of International Journal of Systems Science, Member of Editorial Committee of Chinese Journal of Scientific Instrument, and Editor (and Founder) of International Journal of Modelling, Identification and Control and editor of International Journal of Computer Applications in Technology (http://www.inderscience.com/ijcat). Professor Zhu’s CV can be found at http://www.ias.uwe.ac.uk/people.htm
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Zhao, D., Li, S. & Zhu, Q. A new TSMC prototype robust nonlinear task space control of a 6 DOF parallel robotic manipulator. Int. J. Control Autom. Syst. 8, 1189–1197 (2010). https://doi.org/10.1007/s12555-010-0604-y
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DOI: https://doi.org/10.1007/s12555-010-0604-y