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Vol. 166, Issue 3, March 2014, pp. 235-240




Nonlinear Adaptive Control Approach for Parallel Manipulator Based on Lyapunov Method

Yimei Chen, Qiang Zhang, Chunbo Xiu

School of Electrical Engineering & Automation, Tianjin Polytechnic University, 399 BinShuiXi Road, Tianjin, 300387, P.R. China

E-mail: chenplum@sohu.com



Received: 10 December 2013 /Accepted: 28 February 2014 /Published: 31 March 2014

Digital Sensors and Sensor Sysstems


Abstract: A new nonlinear adaptive control approach is proposed for the redundantly actuated parallel manipulators. In comparison with the existing adaptive control schemes, the parameterization expression of the model parameters is not needed in the proposed approach according to the properties of the parameters in the inertia matrix, and the design of adaptive controller can be simplified considerably because of the estimated parameters reduction. The stabilized conditions and corresponding proof are also presented, and the globally asymptotical stability of the end-effector position is guaranteed. Simulation results are demonstrated in support of the proposed control scheme.


Keywords: Adaptive control, Nonlinear control, Parallel robot, Lyapunov function, Globally stable.


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