Discrete sliding mode control for a parallel robot

被引：0

作者：

Qu, Shao-Cheng ^{[1
]}

Wang, Yong-Ji ^{[2
]}

机构：

[1] Huazhong Normal Univ, Dept Informat & Technol, Wuhan 430079, Hubei, Peoples R China

[2] Huazhong Univ Sci & Technol, Dept Control Sci, Wuhan 430074, Peoples R China

来源：

PROCEEDINGS OF 2006 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-7 | 2006年

关键词：

parallel robot; discrete sliding mode; reaching law;

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：

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.

引用

页码：871 / +

页数：2

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