Bio-inspired Backstepping Adaptive Sliding Mode Control for Parallel Mechanism with Actuation Redundancy

Xue-Mei Niu; Guo-Qin Gao; Xin-Jun Liu; Zhi-Ming Fang

doi:10.1007/s11633-014-0826-1

Bio-inspired Backstepping Adaptive Sliding Mode Control for Parallel Mechanism with Actuation Redundancy

doi: 10.1007/s11633-014-0826-1

School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China;
Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China

基金项目:

This work was supported by National Natural Science Foundation of China (No. 51375210), Priority Academic Program Development of Jiangsu Higher Education Institutions (No. 6, 2011), Postgraduate Research and Innovation Program of Jiangsu Higher Education Institutions (No.CXLX11-0598), Jiangsu University Senior Professionals Scientific Research Foundation (No. 13JDG047).

详细信息

作者简介:
Xue-Mei Niu graduated from Jiangsu University, China in 2003. She received the M. Sc. degree from Jiangsu University, in 2006. She is currently a lecturer at School of Electrical and Information Engineering, Jiangsu University. Her research interests include robotics and automation, especially the control of robots. E-mail: niuxm@mail.ujs.edu.cn

Bio-inspired Backstepping Adaptive Sliding Mode Control for Parallel Mechanism with Actuation Redundancy

School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China;
Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China

Funds:

摘要: This paper presents a bio-inspired backstepping adaptive sliding mode control strategy for a novel 3 degree of freedom (3-DOF) parallel mechanism with actuation redundancy. Based on the kinematic model and the dynamic model, a sliding mode controller is designed to assure the tracking performance, and an adaptive law is introduced to approximate the system uncertainty including parameters variation, external disturbances and un-modeled part. Furthermore, a bio-inspired model is introduced to solve the inherent chattering problem of sliding mode control and provide a chattering free control. The simulation and experimental results testify that the proposed bio-inspired backstepping adaptive sliding mode control can achieve better performance (the tracking accuracy, robustness, response speed, etc.) than the conventional slide mode control.
- Parallel mechanism /
- redundant actuation /
- kinematics analysis /
- dynamics analysis /
- adaptive sliding mode control /
- bioinspired model
Abstract: This paper presents a bio-inspired backstepping adaptive sliding mode control strategy for a novel 3 degree of freedom (3-DOF) parallel mechanism with actuation redundancy. Based on the kinematic model and the dynamic model, a sliding mode controller is designed to assure the tracking performance, and an adaptive law is introduced to approximate the system uncertainty including parameters variation, external disturbances and un-modeled part. Furthermore, a bio-inspired model is introduced to solve the inherent chattering problem of sliding mode control and provide a chattering free control. The simulation and experimental results testify that the proposed bio-inspired backstepping adaptive sliding mode control can achieve better performance (the tracking accuracy, robustness, response speed, etc.) than the conventional slide mode control.
- Parallel mechanism /
- redundant actuation /
- kinematics analysis /
- dynamics analysis /
- adaptive sliding mode control /
- bioinspired model

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Bio-inspired Backstepping Adaptive Sliding Mode Control for Parallel Mechanism with Actuation Redundancy

doi: 10.1007/s11633-014-0826-1

Bio-inspired Backstepping Adaptive Sliding Mode Control for Parallel Mechanism with Actuation Redundancy

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Bio-inspired Backstepping Adaptive Sliding Mode Control for Parallel Mechanism with Actuation Redundancy

doi: 10.1007/s11633-014-0826-1

School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China;

Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China

English Abstract

Bio-inspired Backstepping Adaptive Sliding Mode Control for Parallel Mechanism with Actuation Redundancy

School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China;

Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China

全文HTML

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Bio-inspired Backstepping Adaptive Sliding Mode Control for Parallel Mechanism with Actuation Redundancy

doi: 10.1007/s11633-014-0826-1

Bio-inspired Backstepping Adaptive Sliding Mode Control for Parallel Mechanism with Actuation Redundancy

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出版历程

Bio-inspired Backstepping Adaptive Sliding Mode Control for Parallel Mechanism with Actuation Redundancy

doi: 10.1007/s11633-014-0826-1

School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China; Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China

English Abstract

Bio-inspired Backstepping Adaptive Sliding Mode Control for Parallel Mechanism with Actuation Redundancy

School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China; Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China

全文HTML

目录

School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China;

Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China

School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China;

Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China