Title :
Posture control of 3-DOF parallel manipulator using feedback linearization and model reference adaptive control
Author :
Alinia, Sahar ; Hemmatian, Masoud ; Wen Fang Xie ; Rui Zeng
Author_Institution :
Dept. of Mech. & Ind. Eng., Concordia Univ., Montreal, QC, Canada
Abstract :
This paper is focused on the posture control of a 3 degree of freedom (3DOF) parallel manipulator driven by pneumatic muscles (PMDPM). The feedback linearization control and model reference adaptive control are developed to control the posture of the moving platform by changing the pressure inside the pneumatic muscles. The performances of the controllers to track step and sinusoidal reference inputs and their robustness against noise and sudden disturbances are demonstrated in the simulation results.
Keywords :
feedback; linearisation techniques; manipulator dynamics; manipulator kinematics; model reference adaptive control systems; motion control; robust control; 3-DOF parallel manipulator; 3-degree-of-freedom parallel manipulator; PMDPM; feedback linearization; feedback linearization control; model reference adaptive control; moving platform; noise disturbances; pneumatic muscles; posture control; robustness; sinusoidal reference input tracking; step input tracking; Adaptation models; Adaptive control; Manipulator dynamics; Muscles; Noise; Robustness;
Conference_Titel :
Electrical and Computer Engineering (CCECE), 2015 IEEE 28th Canadian Conference on
Conference_Location :
Halifax, NS
Print_ISBN :
978-1-4799-5827-6
DOI :
10.1109/CCECE.2015.7129436
