Journal
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
Volume 40, Issue 8, Pages 829-843Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207720902961022
Keywords
synchronised control; coupling position error; finite time stability; Lyapunov stability; terminal sliding mode control; parallel manipulator
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Funding
- National Natural Science Foundation of China [60825302, 60534020, 60774015]
- High Technology Research and Development Program [2006AA04Z173]
- Doctoral Program of Higher Education of China [20060248001]
- Shanghai Natural Science Foundation [07JC14016]
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A new finite time position synchronised control approach for parallel manipulators is proposed using a fast terminal sliding mode (TSM). By developing a novel synchronisation and coupling position error, a non-singular fast TSM is proposed in coupling position error space. The proposed controller can guarantee position error and synchronisation error converge to zero in a finite time simultaneously without requiring the explicit using system dynamic model. The corresponding stability analysis is presented to lay a foundation for theoretical understanding to the underlying issues as well as safe operation for real systems. An illustrative example is demonstrated in support of the effectiveness of the proposed approach.
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