Backstepping Sliding Mode Robust Control for a Wire-Driven Parallel Robot Based on a Nonlinear Disturbance Observer
المؤلفون المشاركون
Wang, Yuqi
Lin, Qi
Zhou, Lei
Shi, Xinxin
Wang, Lei
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2020، العدد 2020 (31 ديسمبر/كانون الأول 2020)، ص ص. 1-17، 17ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2020-03-24
دولة النشر
مصر
عدد الصفحات
17
التخصصات الرئيسية
الملخص EN
Based on a nonlinear disturbance observer, a backstepping sliding mode robust control is proposed for a wire-driven parallel robot (WDPR) system used in the wind tunnel test to dominate the motion of the end effector.
The control method combines both the merits of backstepping control and sliding mode robust control.
The WDPR is subject to different types of disturbances, and these disturbances will affect the motion precision of the end effector.
To overcome these problems, a nonlinear disturbance observer (NDO) is designed to reject such disturbances.
In this study, the design method of the nonlinear disturbance observer does not require the reliable dynamic model of the WDPR.
Moreover, the design method can be used not only in the WDPR but also in other parallel robots.
Then, a backstepping design method is adopted and a sliding mode term is introduced to construct a desired controller, and the disturbances are compensated in the controller to reduce the switching gain and guarantee the robustness.
For the sake of verifying the stabilization of the closed-loop system, the Lyapunov function is constructed to analyze the stabilization of the system.
Finally, the feasibility and validity of the proposed control scheme are proved through both simulation and experimental results.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Wang, Yuqi& Lin, Qi& Zhou, Lei& Shi, Xinxin& Wang, Lei. 2020. Backstepping Sliding Mode Robust Control for a Wire-Driven Parallel Robot Based on a Nonlinear Disturbance Observer. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-17.
https://search.emarefa.net/detail/BIM-1194230
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Wang, Yuqi…[et al.]. Backstepping Sliding Mode Robust Control for a Wire-Driven Parallel Robot Based on a Nonlinear Disturbance Observer. Mathematical Problems in Engineering No. 2020 (2020), pp.1-17.
https://search.emarefa.net/detail/BIM-1194230
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Wang, Yuqi& Lin, Qi& Zhou, Lei& Shi, Xinxin& Wang, Lei. Backstepping Sliding Mode Robust Control for a Wire-Driven Parallel Robot Based on a Nonlinear Disturbance Observer. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-17.
https://search.emarefa.net/detail/BIM-1194230
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1194230
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
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