Global sliding mode control of electro-hydraulic 6-DOF parallel robots
In this study, a global sliding mode control is proposed to improve the tracking performance of a nonlinear electro-hydraulic 6-dof parallel robot. The robustness of the sliding mode controller to uncertainties and disturbances may not be preserved during the reaching phase. Through design the nonlinear dynamic equation of sliding surface, the reaching phase is removed from sliding mode control. The global robustness can be obtained by the global sliding mode control. The validity of the proposed control scheme is verified through simulation, and a good performance of the controller is obtained.
Global sliding mode 6-dof Parallel robot
Yangjun Pi Xuanyin Wang
The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, China
国际会议
杭州
英文
412-415
2009-04-08（万方平台首次上网日期，不代表论文的发表时间）