TY - JOUR
T1 - Angle Attitude Control for a 2-DOF Parallel Mechanism of PMAs Using Tracking Differentiators
AU - Zhao, Ling
AU - Cheng, Haiyan
AU - Zhang, Jinhui
AU - Xia, Yuanqing
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - This paper presents a Tornambe controller (TC) for a two-degree-of-freedom (DOF) parallel mechanism of pneumatic muscle actuators (PMAs) based on tracking differentiators (TDs). A dynamic nonlinear system is established for the 2-DOF parallel mechanism of PMAs. TC is designed for improving control performance of the dynamic nonlinear system. The TDs are utilized to obtain high order derivatives of tracking errors, which are required by TC. Moreover, stability analysis of the dynamic nonlinear system is shown by a Lyapunov approach. Finally, experimental results are shown to verify the effectiveness of the proposed control method in this paper.
AB - This paper presents a Tornambe controller (TC) for a two-degree-of-freedom (DOF) parallel mechanism of pneumatic muscle actuators (PMAs) based on tracking differentiators (TDs). A dynamic nonlinear system is established for the 2-DOF parallel mechanism of PMAs. TC is designed for improving control performance of the dynamic nonlinear system. The TDs are utilized to obtain high order derivatives of tracking errors, which are required by TC. Moreover, stability analysis of the dynamic nonlinear system is shown by a Lyapunov approach. Finally, experimental results are shown to verify the effectiveness of the proposed control method in this paper.
KW - Angle attitude control
KW - Tornambe controller (TC)
KW - pneumatic muscle actuator (PMA)
KW - tracking differentiator (TD)
UR - http://www.scopus.com/inward/record.url?scp=85058995325&partnerID=8YFLogxK
U2 - 10.1109/TIE.2018.2884215
DO - 10.1109/TIE.2018.2884215
M3 - Article
AN - SCOPUS:85058995325
SN - 0278-0046
VL - 66
SP - 8659
EP - 8669
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 11
M1 - 8584484
ER -