Finite time position synchronised control for parallel manipulators using fast terminal sliding mode

Authors: Zhao, Dongya¹; Li, Shaoyuan²; Gao, Feng³

Source: International Journal of Systems Science, Volume 40, Number 8, August 2009 , pp. 829-843(15)

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Abstract:

A new finite time position synchronised control approach for parallel manipulators is proposed using a fast terminal sliding mode (TSM). By developing a novel synchronisation and coupling position error, a non-singular fast TSM is proposed in coupling position error space. The proposed controller can guarantee position error and synchronisation error converge to zero in a finite time simultaneously without requiring the explicit using system dynamic model. The corresponding stability analysis is presented to lay a foundation for theoretical understanding to the underlying issues as well as safe operation for real systems. An illustrative example is demonstrated in support of the effectiveness of the proposed approach.

Keywords: synchronised control; coupling position error; finite time stability; Lyapunov stability; terminal sliding mode control; parallel manipulator

Document Type: Research article

DOI: http://dx.doi.org/10.1080/00207720902961022

Affiliations: 1: Institute of Automation, Shanghai Jiao Tong University, Shanghai 200240, China,College of Mechanical and Electronic Engineering, China University of Petroleum, Dongying, 257061, China 2: Institute of Automation, Shanghai Jiao Tong University, Shanghai 200240, China 3: School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

Publication date: 2009-08-01

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