NDLI: Nonlinear robust observer-based position controller for the 3-DOF parallel kinematic machine

Content Provider	IEEE Xplore Digital Library
Author	Huijuan Zhang Stefanovic, M.
Copyright Year	2009
Description	Author affiliation: University of Wyoming, Laramie, 82072 USA (Huijuan Zhang; Stefanovic, M.)
Abstract	This paper proposes a solution to the problem of the state observation and position control by output feedback for a nonlinear three degrees-of-freedom (3-DOF) parallel kinematic machine (PKM) system, based on the limited signal availability (moving platform displacement measurements only). The unknown velocity signals are estimated via a nonlinear robust observer which is designed for the nonlinear system with observable linear dynamics part and bounded nonlinearities and disturbances, and which guarantees global exponential stability of the observation error. A proportionalderivative (PD) controller is designed to solve the position control problem, utilizing the estimated velocity, as well as the gravitation compensation, dynamic friction and external disturbance compensation for the PKM. The closed-loop system is proven to have global asymptotic stability according to the Lyapunov's analysis method and LaSalle's invariance principle. Performance of the resulting observer and controller is illustrated in a simulation study of a 3-DOF PKM.
Starting Page	1574
Ending Page	1579
File Size	362976
Page Count	6
File Format	PDF
ISBN	9781424446018
ISSN	10851992
DOI	10.1109/CCA.2009.5280780
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-07-08
Publisher Place	Russia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robust control Kinematics Position control Robust stability Nonlinear dynamical systems Output feedback Displacement measurement Observers Signal design Nonlinear systems asymptotic stability 3-DOF parallel kinematic machine robust observer output feedback position control
Content Type	Text
Resource Type	Article

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