Sliding Mode Robust Control of a Wire-Driven Parallel Robot Based on HJI Theory and a Disturbance Observer

Sliding Mode Robust Control of a Wire-Driven Parallel Robot Based on HJI Theory and a Disturbance Observer

A sliding mode robust control law based on Hamilton-Jacobi Inequality (HJI) theory and a disturbance observer is proposed for a wire-driven parallel robot (WDPR) used in a wind- tunnel test. First, the wire-driven parallel robot is described, and its kinematics model established. Second, according t...

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Bibliographic Details
Main Authors: Yuqi Wang, Qi Lin, Jiacai Huang, Lei Zhou, Jinjiang Cao, Guifang Qiao, Xinxin Shi
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Wire-driven parallel robot
dynamic modeling
HJI theory
disturbance observer
sliding mode control
simulation analysis
Online Access:https://ieeexplore.ieee.org/document/9272323/

Internet

https://ieeexplore.ieee.org/document/9272323/

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