Decoupling Control for Parallel Robot Based on Equivalent-Input-Disturbance Approach

被引：0
|
作者：
Lin, Pingping [1 ]
She, Jinhua [2 ,3 ,4 ]
Wu, Min [2 ,3 ]
Li, Qianqiu [1 ]
机构：
[1] Cent S Univ, Sch Informat Sci & Engn, Changsha 410083, Hunan, Peoples R China
[2] China Univ Geosci, Sch Automat, Wuhan 430074, Hubei, Peoples R China
[3] Hubei Key Lab Adv Control & Intelligent Automat C, Wuhan 430074, Hubei, Peoples R China
[4] Tokyo Univ Technol, Sch Engn, Tokyo 1920982, Japan
来源：
2017 29TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC) | 2017年
关键词：
Parallel Robot; Decoupling Control; Equivalent Input Disturbance (EID); PID;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper discusses the problem of posture control for a parallel robot. The parallel robot features multiple variables and large nonlinearities. The control accuracy is strongly affected by the parameters which are coupled with each other, and by exogenous disturbances. A decoupling control strategy is presented based on the equivalent-input-disturbance (EID) approach to improve control performance. First, decoupling control is used to eliminate the main coupling effect between multiple variables. Then, the EID method is used to further improve decoupling effect and suppress the external disturbances. Simulation results show that the control strategy is effective for the decoupling control of parallel robot.
引用
收藏
页码：4895 / 4900
页数：6
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