کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
736763 | 893890 | 2009 | 6 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Nonlinear computed torque control for a high-speed planar parallel manipulator
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موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
A new computed torque (CT)-type controller termed nonlinear CT (NCT) controller is developed and applied to a high-speed planar parallel manipulator. The NCT controller is designed by replacing the linear PD in the conventional CT controller with the nonlinear PD (NPD) algorithm. The stability of the parallel manipulator system with the NCT controller is proven using the Lyapunov theorem, and the proposed controller is further proven to guarantee asymptotic convergence to zero of both tracking error and error rate. The superiority of the proposed NCT controller is verified through the trajectory tracking experiments of an actual high-speed planar parallel manipulator, and the experiment results are compared with the CT controller.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechatronics - Volume 19, Issue 6, September 2009, Pages 987–992
Journal: Mechatronics - Volume 19, Issue 6, September 2009, Pages 987–992
نویسندگان
Weiwei Shang, Shuang Cong,