Robust disturbance observer based sliding mode control of a planar parallel (3-PPR) manipulator
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Cites background from "Robust disturbance observer based s..."
...(a) La stabilisation basée observateur par modes glissants est une forme de commande à structure variable qui a été appliquée avec succès à de nombreux systèmes, notamment pour la stabilisation des drones, [48] ou bien en robotique [86, 144, 54]....
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References
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"Robust disturbance observer based s..." refers background in this paper
...Sliding mode control approach is a very interesting and new tracking control method for nonlinear robotic systems and its performance against disturbance and parameter uncertainties is effective which is analyzed and established here[16,17]....
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313 citations
"Robust disturbance observer based s..." refers methods in this paper
...00 ©2014 IEEE positioning uses commercialized parallel machines such as hexapods - like the Stewart-Gough platform [4] - or tripods, the commercialization of planar parallel manipulators is still in its infancy....
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313 citations
"Robust disturbance observer based s..." refers background in this paper
...The reasons for this can be justified by the limitations associated with the parallel manipulators like limited or a restricted workspace and the presence of complicated singularities which are addressed in [1]-[3]....
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...They are enhanced forms of their serial counterparts as they have numerous advantages like being able to work with effortlessness at high velocities [1, 2], being more rigid without being bulkier and so on....
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...The singularity study of a class of 3-RRR planar manipulators was done in [6], while [1] describes the varieties of singular configuration that are encountered after detailed study of a 3-RPR configuration....
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189 citations
170 citations
"Robust disturbance observer based s..." refers methods in this paper
...A simple PD controller has been established to analyze the tracking control of the parallel manipulator [13]-[15], but the performance of this control method is insufficient because of nonlinearities associated with the behavior of the system and its inadequacy in adjusting to the un-modeled dynamic behavior of the system....
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