Smooth sliding mode control with a disturbance observer for a virtual axis parallel mechanism

Daogen Jiang; Zhenhua Wang; Zhenqi Wang; Xiaotong Zhang

doi:10.1117/12.2035766

10 October 2013 Smooth sliding mode control with a disturbance observer for a virtual axis parallel mechanism

Daogen Jiang, Zhenhua Wang, Zhenqi Wang, Xiaotong Zhang

Proceedings Volume 8916, Sixth International Symposium on Precision Mechanical Measurements; 89162L (2013) https://doi.org/10.1117/12.2035766
Event: Sixth International Symposium on Precision Mechanical Measurements, 2013, Guiyang, China

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.

Citation Download Citation

Daogen Jiang, Zhenhua Wang, Zhenqi Wang, and Xiaotong Zhang "Smooth sliding mode control with a disturbance observer for a virtual axis parallel mechanism", Proc. SPIE 8916, Sixth International Symposium on Precision Mechanical Measurements, 89162L (10 October 2013); https://doi.org/10.1117/12.2035766

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