Discrete Sliding Mode Control with Dynamic Disturbance Compensator for a Parallel Robot
A novel discrete sliding mode control approach is presented to achieve accurate servo tracking for parallel robot system in the presence of load variations, parameter variations and nonlinear dynamic interactions. A dynamic disturbance compensator based on predictive error is proposed to improve the traditional reaching law. System dynamics in the vicinity of the sliding mode plane is examined in detail. It is shown that the dynamic features of the closed-loop system are improved effectively, and all advantages of the traditional reaching law are retained. The simulations for parallel robot control system show that the system dynamics are improved effectively and the chatter that is inherent to the sliding mode control system is weakened.
Shaocheng Qu Meijing Gong Xiaoyan Wang Hao Qu
Department of Information and Technology Huazhong Normal University Wuhan, Hubei, 430079
国际会议
南宁
英文
2007-07-20（万方平台首次上网日期，不代表论文的发表时间）