Title :
Discrete Sliding Mode Control for a Parallel Robot
Author :
Qu, Shao-cheng ; Wang, Yong-Ji
Author_Institution :
Dept. of Inf. & Technol., Huazhang Normal Univ., Hubei
Abstract :
A new discrete sliding mode control approach for parallel robot is presented to achieve accurate servo tracking in the presence of load variations, parameter variations and nonlinear dynamic interactions. A procedure based on predictive error is proposed to improve the traditional reaching law, which can guarantee the desired properties. The simulation results show that the proposed approach can improve the dynamics and the chatter that is inherent to the sliding mode control system is weakened
Keywords :
asymptotic stability; industrial robots; nonlinear control systems; robust control; servomechanisms; tracking; uncertain systems; variable structure systems; discrete sliding mode control; nonlinear dynamic interaction; parallel robot; predictive error; reaching law; servo tracking; Control systems; Cybernetics; Electrical equipment industry; Load management; Machine learning; Nonlinear dynamical systems; Parallel robots; Robust control; Sampling methods; Servomechanisms; Sliding mode control; Uncertainty; Discrete sliding mode; Parallel robot; Reaching law;
Conference_Titel :
Machine Learning and Cybernetics, 2006 International Conference on
Conference_Location :
Dalian, China
Print_ISBN :
1-4244-0061-9
DOI :
10.1109/ICMLC.2006.258488
