Integration of saturated PI synchronous control and PD feedback for control of parallel manipulators

IEEE Transactions on Robotics

Volumn 22, Issue 1, 2006, Pages 202-207

  Su, Yuxin ^a,b   Sun, Dong ^a   Ren, Lu ^c   Mills, James K ^c  

^a CITY UNIVERSITY OF HONG KONG   (Hong Kong)

^b XIDIAN UNIVERSITY   (China)

^c UNIVERSITY OF TORONTO   (Canada)

Author keywords

Cross coupling and control; Parallel manipulators; Proportional derivative (PD) control; Saturated Proportional integral (S PI) control; Synchronization

Indexed keywords

ACTUATORS; ALGORITHMS; ASYMPTOTIC STABILITY; DEGREES OF FREEDOM (MECHANICS); FEEDBACK CONTROL; POSITION CONTROL; SYNCHRONIZATION; SYSTEMS ANALYSIS;

CROSS-COUPLING; PARALLEL MANIPULATORS; POSITION SYNCHRONIZATION; PROPORTIONAL-DERIVATIVE (PD) CONTROL; SATURATED PROPORTIONAL-INTEGRAL (S-PI) CONTROL;

MANIPULATORS;

EID: 32644452429     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2005.858852     Document Type: Article

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