Robust Sliding Mode Control for Novel Type of Parallel Robo
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Date
2017-12-01
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ALGERIAN JOURNAL OF SIGNALS AND SYSTEMS (AJSS).Volume : 2 Issue : 4.pp 218-227
Abstract
in this paper we present a new control architecture based on the robust sliding mode control
applied to control a nonlinear system (parallel cable robot). This approach is widely used to address the
uncertainties and disturbances of nonlinear systems and to improve the performance of the robot in terms of
tracking a desired path. A dynamic model is presented followed by the description of the control approach
used. To do this, numerical simulations were carried out by developing a specific code including a graphical
user interface for a user-friendly real time. The simulation results for a dynamic model with sliding mode
control are discussed for different trajectories applied to this robot, to confirm the validity of accurate tracking
of a desired path before future work description