Control of 2dof Planar Parallel Manipulator Using Backstepping Approach

被引：0
|
作者：
Litim, Mustapha. [1 ]
Omari, Abdelhafid. [1 ]
Larbi, Mohamed El Amine. [1 ]
机构：
[1] Univ Sci & Technol MB, Fac Elect Engn, Dept Automat Control, Oran El Mnaouer, Algeria
来源：
CONTROL ENGINEERING AND APPLIED INFORMATICS | 2015年 / 17卷 / 02期
关键词：
Nonlinear control; Parallel manipulators; Lyapunov stability; backstepping control; COMPUTED TORQUE CONTROL; DYNAMICS;
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：
In this paper, dynamic equations of motion for a 2DoF parallel robot manipulator including structured and unstructured uncertainties are considered. The application of Backstepping technique for trajectory tracking in presence of parameter uncertainties in mass variation is studied. The advantage of this control teclmique is that it imposes the desired properties of stability by fixing initially the candidate Lyapunov functions, then by calculating the other functions in a recursive way. Simulation results are presented in order to evaluate the tracking performance and the global stability of the closed loop system. Obtained results show the effectiveness of the proposed controller for 2DoF parallel robot.
引用
收藏
页码：90 / 98
页数：9
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