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A new terminal converging adaptive control for 6-degree-of-freedom parallel robotic manipulators with bounded control inputs

Zhao, D; Spurgeon, SK; Liang, H; Li, S; Zhu, Q; (2017) A new terminal converging adaptive control for 6-degree-of-freedom parallel robotic manipulators with bounded control inputs. In: Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering. (pp. pp. 271-281). Sage Green open access

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Abstract

In this study, a new terminal converging adaptive control approach with bounded control inputs is developed for the 6-degree-of-freedom parallel robot manipulator. The non-smooth feedback control principle is combined with particular bounded functions to define both the control input and associated adaptive law. The Lyapunov method is used to present a stability analysis in order to prove that the error trajectories are semi-globally asymptotically stable. Numerical simulation results relating to a 6-degree-of-freedom parallel robot are presented to validate the effectiveness of the proposed approach and to compare the performance obtained with other candidate control schemes. It is shown that the proposed scheme achieves more rapid error convergence and exhibits improved robustness while guaranteeing that the control signal remains within known bounds.

Type: Proceedings paper
Title: A new terminal converging adaptive control for 6-degree-of-freedom parallel robotic manipulators with bounded control inputs
Open access status: An open access version is available from UCL Discovery
DOI: 10.1177/0959651817698333
Publisher version: http://dx.doi.org/10.1177/0959651817698333
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
UCL classification: UCL
UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng
URI: https://discovery.ucl.ac.uk/id/eprint/1557885
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