文章基本信息

标题：Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot
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作者：Amjad J. Humaidi ; Ahmed Ibraheem Abdulkareem
期刊名称：Journal of Control Science and Engineering
印刷版ISSN：1687-5249
电子版ISSN：1687-5257
出版年度：2019
卷号：2019
页码：1-12
DOI：10.1155/2019/7689673
出版社：Hindawi Publishing Corporation
摘要：This work presents the design of two control schemes for a Delta/Par4-like parallel robot: augmented PD (APD) controller and augmented nonlinear PD (ANPD) controller. The stability of parallel robot based on nonlinear PD controller has been analyzed and proved based on Lyapunov method. A comparison study between APD and ANPD controllers has been made in terms of performance and accuracy improvement of trajectory tracking. Also, another comparison study has been presented between augmented nonlinear PD (ANPD) controller and nonaugmented nonlinear PD (NANPD) controller in order to show the enhancement of introducing the augmented structure on dynamic performance and trajectory tracking accuracy. The effectiveness of augmented PD controllers (APD and ANPD) and nonaugmented nonlinear PD (NANPD) controller for the considered parallel robot are verified via simulation within the MATLAB environment.