Finite time position synchronised control for parallel manipulators using fast terminal sliding mode

被引:33
|
作者
Zhao, Dongya [1 ,2 ]
Li, Shaoyuan [1 ]
Gao, Feng [3 ]
机构
[1] Shanghai Jiao Tong Univ, Inst Automat, Shanghai 200240, Peoples R China
[2] China Univ Petr, Coll Mech & Elect Engn, Dongying 257061, Peoples R China
[3] Shanghai Jiao Tong Univ, Sch Mech Engn, Shanghai 200240, Peoples R China
基金
中国国家自然科学基金;
关键词
synchronised control; coupling position error; finite time stability; Lyapunov stability; terminal sliding mode control; parallel manipulator; TRACKING CONTROL; ROBOTIC MANIPULATORS; DYNAMICAL-SYSTEMS; DESIGN; FEEDBACK;
D O I
10.1080/00207720902961022
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
A new finite time position synchronised control approach for parallel manipulators is proposed using a fast terminal sliding mode (TSM). By developing a novel synchronisation and coupling position error, a non-singular fast TSM is proposed in coupling position error space. The proposed controller can guarantee position error and synchronisation error converge to zero in a finite time simultaneously without requiring the explicit using system dynamic model. The corresponding stability analysis is presented to lay a foundation for theoretical understanding to the underlying issues as well as safe operation for real systems. An illustrative example is demonstrated in support of the effectiveness of the proposed approach.
引用
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页码:829 / 843
页数:15
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