Screw Dynamic Modeling and Novel Composite Error-Based Second-order Sliding Mode Dynamic Control for a Bilaterally Symmetrical Hybrid Robot

被引：11
|
作者：
Qin, Qiuyue [1 ]
Gao, Guoqin [1 ]
机构：
[1] Jiangsu Univ, Sch Elect & Informat Engn, Zhenjiang 212013, Jiangsu, Peoples R China
来源：
ROBOTICA | 2021年 / 39卷 / 07期
基金：
中国国家自然科学基金;
关键词：
Hybrid robot; Dynamic control; Sliding mode control; Composite error; Screw theory; 2-DOF PARALLEL MANIPULATOR; INVERSE DYNAMICS; TRACKING;
D O I：
10.1017/S0263574720001095
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this research, a dynamic model is first established based on screw theory and the principle of virtual work for a bilaterally symmetrical hybrid robot. By combining a novel composite error (NCE) with second-order nonsingular fast terminal sliding mode (SONFTSM) control method, a NCE-based SONFTSM dynamic control method is further presented to guarantee better trajectory tracking performance and synchronization performance simultaneously. The asymptotic convergence of proposed errors and the stability of the proposed control method have been proved theoretically. Finally, the simulation and experiment are implemented to validate the effectiveness of the proposed control method.
引用
收藏
页码：1264 / 1280
页数：17
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