Motion control of a novel 6-degree-of-freedom parallel platform based on modified active disturbance rejection controller-Reference-Cited by-同舟云学术

Motion control of a novel 6-degree-of-freedom parallel platform based on modified active disturbance rejection controller

Published:2013-11-20 Issue:2 Volume:228 Page:87-96
ISSN:0959-6518
Container-title:Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
language:en
Short-container-title:Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering

Author:

Shi Xinxin¹,Chang Siqin²,Huang Jiacai¹

Affiliation:

1. School of Automation, Nanjing Institute of Technology, Nanjing, P.R. China

2. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, P.R. China

Abstract

A novel 6-degree-of-freedom parallel platform and its motion control based on a modified active disturbance rejection controller are presented in this article. Structure and mathematical model of a novel electromagnetic linear actuator are analyzed, which is the main component of the novel 6-degree-of-freedom parallel platform. Kinematics-based control method of the 6-degree-of-freedom parallel platform is adopted, and the modified active disturbance rejection controller is used to track each desired trajectory accurately in spite of disturbances. Comparative simulations and experimental results demonstrate the effectiveness of the modified active disturbance rejection controller, and this novel 6-degree-of-freedom parallel platform can be driven to realize the given motion well.

Publisher

SAGE Publications

Subject

Mechanical Engineering,Control and Systems Engineering

Link

http://journals.sagepub.com/doi/pdf/10.1177/0959651813508111

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