Synchronization control based on novel error for a hybrid mechanism

For a bilaterally symmetric type hybrid mechanism used for automobile electro-coating conveying, the controller based on a novel synchronization error is proposed to improve the synchronization performance of the mechanism motion. The Jacobi matrix of the mechanism is calculated according to kinematic analysis, and the dynamic model is established by Lagrange method. Considering the structure and motion characteristics of the mechanism, a novel synchronization error is proposed. By combining cross-coupling control with sliding mode control, a novel synchronization controller based on the novel error is designed. The stability of the proposed algorithm is proved by Lyapunov stability theorem, and the convergence of the tracking error is proved with Barbalat's Lemma. The simulation and experimental results show that the synchronization controller based on the novel error can not only have the superiority of designing the controllers in the task space but also avoid the problem of estimating the contour error when using contour error as the synchronization error.