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Proceedings Paper

Smooth sliding mode control with a disturbance observer for a virtual axis parallel mechanism
Author(s): Daogen Jiang; Zhenhua Wang; Zhenqi Wang; Xiaotong Zhang
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Paper Abstract

The control charactics of the virtual axis parallel mechanism is nonlinear and strong coupling as well as uncertainty. To achieve the goal of decoupling and inhibition of various uncertaities, this paper proposes the algorithm of smooth sliding mode control with a disturbance observer.In order to decline the inherent trembling of the sliding mode control, the paper uses the nonlinear power function such as fal(s,α , δ) in the approaching law decision. Also it uses the PVT interpolation strategy in the joint-space trajectory planning to ensure the stability of the mechanism movement, which is based on the mechnical kinematics models. Simulation of the trajectory tracing shows that the algorithm can improve the robust performance of the parameter perturbation and certain interferance, which achives the aim of the accurate steady-state performance and the good dynamic tracing performance.

Paper Details

Date Published: 10 October 2013
PDF: 9 pages
Proc. SPIE 8916, Sixth International Symposium on Precision Mechanical Measurements, 89162L (10 October 2013); doi: 10.1117/12.2035766
Show Author Affiliations
Daogen Jiang, Ningbo Technical College (China)
Zhenhua Wang, Ningbo Technical College (China)
Zhenqi Wang, Ningbo Technical College (China)
Xiaotong Zhang, Ningbo Technical College (China)

Published in SPIE Proceedings Vol. 8916:
Sixth International Symposium on Precision Mechanical Measurements
Shenghua Ye; Yetai Fei, Editor(s)

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