Nonlinear robust observer-based position controller for the 3-DOF parallel kinematic machine

Proceedings of the IEEE International Conference on Control Applications

Volumn , Issue , 2009, Pages 1574-1579

  Zhang, Huijuan ^a   Stefanovic, Margareta ^a  

^a UNIVERSITY OF WYOMING   (United States)

Author keywords

3 DOF parallel kinematic machine; Asymptotic stability; Output feedback; Position control; Robust observer

Indexed keywords

3-DOF PARALLEL KINEMATIC MACHINE; ANALYSIS METHOD; DISPLACEMENT MEASUREMENTS; DYNAMIC FRICTION; EXTERNAL DISTURBANCES; GLOBAL ASYMPTOTIC STABILITY; GLOBAL EXPONENTIAL STABILITY; LASALLE'S INVARIANCE PRINCIPLE; LINEAR DYNAMICS; LYAPUNOV; MOVING PLATFORM; NON-LINEARITY; OBSERVATION ERRORS; OUTPUT FEEDBACK; PARALLEL KINEMATIC MACHINES; POSITION CONTROLLER; PROPORTIONAL-DERIVATIVE CONTROLLERS; ROBUST OBSERVERS; SIMULATION STUDIES; STATE OBSERVATION; THREE DEGREES OF FREEDOM; VELOCITY SIGNALS;

ASYMPTOTIC ANALYSIS; ASYMPTOTIC STABILITY; CONTROL SYSTEM STABILITY; CONTROLLERS; FEEDBACK; FLEXIBLE MANUFACTURING SYSTEMS; KINEMATICS; NONLINEAR FEEDBACK; NONLINEAR SYSTEMS; OBSERVABILITY; STATE FEEDBACK; SYSTEM STABILITY;

POSITION CONTROL;

EID: 74049104462     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/CCA.2009.5280780     Document Type: Conference Paper

References (15)

1. F.L. Lewis, C.T. Abdallah and D.M. Dawson, Control of robot manipulators, New York: Macmillan, 1993.
2. H. Berghuis and H. Nijmeijer, "Global regulation of robots using only position measurements", Syst. Contr. Lett., Vol. 21, pp. 289-293, 1993.
3. R. Kelly and R. Carelli, "A class of nonlinear PD-type controllers for robot manipulators", J. Robotic Systems, Vol. 13, No. 12, pp. 793-802,1996.
4. M.F. Khelfi, M. Zasadzinski, H. Rafaralahy and E. Richard, "Reduced-order observer-based point-to-point and trajectory controllers for robot manipulators", Control Engineering Practice, Vol. 4, No. 7, pp. 991-1000, 1996.
5. D.M. Dawson, Z. Qu. and J.C. Caroll, "On the state observation and output feedback problems for nonlinear uncertain dynamic systems", Syst. Contr. Lett., Vol. 18, pp. 217-222, 1992.
6. L.C Lin. and T M., "Modeling and Control of Micropositioning Systems Using Stewart Platforms", J. Robotic Systems, Vol. 17, No. 1, pp. 17-52, 2000.
7. S.H. Le, J.B. Song, W.C. Choi and D. Hong, "Position control of a Stewart platform using inverse dynamics control with approximate dynamics", Mechatronics, Vol. 13, No. 6, pp. 605-619, 2003.
8. G. Lebret, K. Liu, F.L. Lewis, "Dynamic analysis and control of a stewart platform manipulator", J. Robotic Systems, Vol. 10, No. 5, pp. 629-655, 1993.
9. B.L. Walcott, M.J. Corless and S.H. Zak, "Comparative study of the nonlinear state-observation techniques", Int.J. Contr., Vol. 45, No. 6, pp. 2109-2132, 1987.
10. M. Takegaki and S. Arimoto, "A new feedback method for dynamic control of manipulators", ASME J. Dynamic Systems, Measurement, and Control, Vol. 102, pp. 119-125, 1981.
11. J. Wang, S. S. Ge and T.H. Lee, "Adaptive NN control of robot manipulator with unknown dynamic friction", Proc. of Asian Conference on Robotics and Applications, Singapore, pp. 160-165, 2001.
12. Z. Qi, J.E McInroy and F. Jafari, "Trajectory Tracking with Parallel Robots Using Low Chattering, Fuzzy Sliding Mode Controller", J. Intelligent and Robotic Systems, Vol. 48, No. 3, pp. 333-356, 2007.
13. J.J. Slotine, and W. Li, Applied Nonlinear Control, Englewood Cliffs, NJ: Prentice Hall, 1991.
14. S.S. Ge, T.H. Lee and C.J. Harris, Adaptive Neural Network Control of Robotic Manipulator, Rover Edge, NJ: World Scientific, 1998.
15. M.M. Polycarpou and P.A. Ioannou, "A robust adaptive nonlinear control design", Proc. American Control Conf., San Francisco, CA, pp. 1365-1369, 1993.