Nonlinear PD Synchronized Control for Parallel Manipulators

A simple synchronized control algorithm is proposed, by incorporating cross-coupling technology into a common PD control architecture, for control of parallel manipulators. A saturated proportional (S-P) control and a linear proportional derivative (PD) control plus gravity force compensation is implemented for synchronization and position control, respectively. The proposed control law is easy to implement and is able to stabilize motion of each actuator while synchronizing all actuators’ motions, so that differential position errors amongst actuators converge to zero. It is shown that the proposed method guarantees global asymptotical stability of the closed-loop system. Experiments performed on a three-DOF parallel manipulator demonstrate the effectiveness of the proposed approach.

Authors

• Yuxin Su 0002
• Dong Sun 0001
• Lu Ren
• Xiaoyun Wang 0003
• James K. Mills

Keywords

• PD control
• Actuators
• Manipulator dynamics
• Proportional control
• Motion control
• Sun
• Force control
• Position control
• Error correction
• Control systems
• Parallel Use
• Stability Of System
• Actuator
• Position Error
• Gravitational Force
• Global Stability
• Proportional-derivative Control
• Global Stability Of System
• Kinematic
• Horizontal Plane
• Linker Length
• Integral Control
• Coupling Parameter
• Inertial Frame
• Revolute Joints
• Motion Platform
• Linear Guide
• Intermediate Link
• Gravity Compensation
• Synchronization Performance
• Actuator Input
• Parallel manipulators
• cross-coupling control
• synchronization
• saturated P control