控制理论(社会学)
同步(交流)
前馈
计算机科学
跟踪误差
控制器(灌溉)
弹道
职位(财务)
控制工程
跟踪(教育)
执行机构
控制(管理)
工程类
人工智能
频道(广播)
心理学
计算机网络
农学
教育学
物理
财务
天文
经济
生物
作者
Dong Sun,Rengui Lu,James K. Mills,C. Wang
标识
DOI:10.1177/0278364906072037
摘要
This paper presents a cross-coupled control approach to the tracking control of parallel manipulators in a synchronous manner. Based on the synchronization goal, the position synchronization error is investigated by considering motion synchronization between each actuator joint and its adjacent ones. A decentralized trajectory tracking controller is then developed with feedback of both position and synchronization errors, formed with a combination of feedforward, feedback and a saturation control. It is proven that this tracking controller can asymptotically stabilize both position and synchronization errors of the system. The proposed controller does not require the explicit use of the system dynamic model. Experiments performed on a 3-DOF parallel manipulator demonstrate improved performance with the proposed synchronous control design.
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