Journal
INTERNATIONAL JOURNAL OF CONTROL
Volume 91, Issue 3, Pages 593-607Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207179.2017.1286536
Keywords
Adaptive control; parallel manipulators; RISE; Delta robot
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Funding
- French research agency within project ARROW [ANR-2011-BS3-006-01-ARROW]
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This paper deals with the development of a new adaptive control scheme for parallel kinematic manipulators (PKMs) based on Rrbust integral of the sign of the error (RISE) control theory. Original RISE control law is only based on state feedback and does not take advantage of the modelled dynamics of the manipulator. Consequently, the overall performance of the resulting closed-loop system may be poor compared to modern advanced model-based control strategies. We propose in this work to extend RISE by including the nonlinear dynamics of the PKM in the control loop to improve its overall performance. More precisely, we augment original RISE control scheme with a model-based adaptive control term to account for the inherent nonlinearities in the closed-loop system. To demonstrate the relevance of the proposed controller, real-time experiments are conducted on the Delta robot, a three-degree-of-freedom (3-DOF) PKM.
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