Control System of Three Degree Freedom Parallel Manipulator

@article{Han2006ControlSO,
  title={Control System of Three Degree Freedom Parallel Manipulator},
  author={Shukui Han and Yuefa Fang and Chuangfeng Huai},
  journal={2006 6th World Congress on Intelligent Control and Automation},
  year={2006},
  volume={2},
  pages={6421-6425}
}
With parameter inaccuracies and bounded disturbances, a robust control scheme based on velocity observation is proposed for robot systems in which only position can be precisely measured. By the introduction of a compensation error in the design of the sliding mode observer that counteracts the effect of system deviations to the velocity reconstruction, the exponential observation error is converged to a bounded region. Using the Lyapunov direct method in designing the robust control laws based… CONTINUE READING

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