Proxy-based sliding mode control on platform of 3 degree of freedom (3-DOF)

Prieto, Pablo J.; Rubio, Ernesto; Hernandez, Luis; Urquijo, Orlando


Proxy-based sliding mode control, created by Ryo Kikuuwe and Hideo Fujimoto, combines the advantages of sliding mode control and proportional integral derivative controller. This paper implements this control algorithm on a platform of 3 degrees of freedom (3-DOF) driven by electropneumatic actuators with proportional flow valves. This paper presents an extension of proxy-based sliding mode control. This time it is implemented on a parallel robot. Despite the robot being a coupled system, is reached a perfect decoupled control. The simulations in MSC-ADAMS and experimental results demonstrate good tracking.

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Título según WOS: ID WOS:000319380000004 Not found in local WOS DB
Título de la Revista: ADVANCED ROBOTICS
Volumen: 27
Número: 10
Fecha de publicación: 2013
Página de inicio: 773
Página final: 784


Notas: ISI