Bio-inspired Backstepping Adaptive Sliding Mode Control for Parallel Mechanism with Actuation Redundancy

被引：0
|
作者：
Xue-Mei Niu [1 ]
Guo-Qin Gao [1 ]
Xin-Jun Liu [2 ]
Zhi-Ming Fang [1 ]
机构：
[1] School of Electrical and Information Engineering, Jiangsu University
[2] Department of Mechanical Engineering, Tsinghua University
来源：
International Journal of Automation and Computing | 2014年 / 05期
基金：
中国国家自然科学基金;
关键词：
Parallel mechanism; redundant actuation; kinematics analysis; dynamics analysis; adaptive sliding mode control; bio-inspired model;
D O I：
暂无
中图分类号：
TP273 [自动控制、自动控制系统];
学科分类号：
080201 ; 0835 ;
摘要：
This paper presents a bio-inspired backstepping adaptive sliding mode control strategy for a novel 3 degree of freedom(3-DOF) parallel mechanism with actuation redundancy. Based on the kinematic model and the dynamic model, a sliding mode controller is designed to assure the tracking performance, and an adaptive law is introduced to approximate the system uncertainty including parameters variation, external disturbances and un-modeled part. Furthermore, a bio-inspired model is introduced to solve the inherent chattering problem of sliding mode control and provide a chattering free control. The simulation and experimental results testify that the proposed bio-inspired backstepping adaptive sliding mode control can achieve better performance(the tracking accuracy,robustness, response speed, etc.) than the conventional slide mode control.
引用
收藏
页码：555 / 564
页数：10
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