NDLI: Robust disturbance observer based sliding mode control of a planar parallel (3-PPR) manipulator

Content Provider	IEEE Xplore Digital Library
Author	Vinoth, V. Singh, Y. Mohanta, J.K. Santhakumar, M.
Copyright Year	2014
Description	Author affiliation: Dept. of Mech. Eng., Indian Inst. of Technol., Indore, Indore, India (Vinoth, V.; Singh, Y.; Mohanta, J.K.; Santhakumar, M.)
Abstract	This study proposes a robust controller in conjunction with the dynamic modeling of an existing three degrees of freedom planar parallel manipulator which can perform effectually in the presence of parameter uncertainties and external disturbances. The planar manipulator discussed here has three legs each with a prismatic-prismatic-revolute (3-PPR) joint configuration and located on the same plane connecting the moving platform which is in the form of an equilateral triangle. Each leg consists of an active prismatic joint, a passive prismatic joint and a passive rotary joint. The dynamic model has been obtained using the Euler-Lagrangian formulation method which is based on the kinetic and potential energies of the system. The proposed controller is based on a sliding mode control scheme with a nonlinear disturbance observer incorporated which aids in eliminating disturbances present in the system which is a result of both disturbances (internal and external disturbances) and parameter uncertainties which might arise due to un-modeled dynamics. Computer based numerical simulations are performed to demonstrate the effectiveness of the proposed control and results confirming the same in the presence of disturbances.
Starting Page	1
Ending Page	6
File Size	603750
Page Count	6
File Format	PDF
ISBN	9781479949403
e-ISBN	9781479949397
DOI	10.1109/SCES.2014.6880103
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-28
Publisher Place	India
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Planar manipulator Trajectory control Parallel robotic motion platform Observers Disturbance observer Vectors Trajectory Joints Manipulator dynamics Sliding mode control Dynamic modeling
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Sliding mode control of Biglide planar parallel manipulator

Composite hierarchical anti-disturbance control for nonlinear robotic systems with robust nonlinear disturbance observer

A robust third order sliding mode control of rigid underactuated robotic manipulator

Stabilization of Stewart platform using Higher Order Sliding Mode control

Hybrid PD sliding mode control of a two degree-of-freedom parallel robotic manipulator

Observer based quasi-static deformation compensation control for three-link rigid-flexible manipulator

Extended State Observer based robust control of electrically-driven modular manipulator

Design of sliding mode control with disturbance observers for inertial platform

A robust higher order sliding mode control of rigid robot manipulator

Robust disturbance observer based sliding mode control of a planar parallel (3-PPR) manipulator

Similar Documents

Sliding mode control of Biglide planar parallel manipulator

Composite hierarchical anti-disturbance control for nonlinear robotic systems with robust nonlinear disturbance observer

A robust third order sliding mode control of rigid underactuated robotic manipulator

Stabilization of Stewart platform using Higher Order Sliding Mode control

Hybrid PD sliding mode control of a two degree-of-freedom parallel robotic manipulator

Observer based quasi-static deformation compensation control for three-link rigid-flexible manipulator

Extended State Observer based robust control of electrically-driven modular manipulator

Design of sliding mode control with disturbance observers for inertial platform

A robust higher order sliding mode control of rigid robot manipulator

Robust disturbance observer based sliding mode control of a planar parallel (3-PPR) manipulator