Sliding Mode Control of Biglide Planar Parallel Manipulator

Mustapha Litim, Benyamine Allouche, Abdelhafid Omari, Antoine Dequidt, Laurent Vermeiren

2014

Abstract

This work presents the control of a two-degree of freedom parallel manipulator using nonlinear sliding mode approach. The aim is to achieve a robust control for trajectory tracking. The control is based on the inverse dynamic model in the Cartesian space of the parallel manipulator. Kinematic analysis are also discussed. To guarantee the high performance on the tracking control. Biglide robot requires full knowledge on the system’s dynamics. In this paper, some important properties of the parallel manipulators are considered to develop a sliding mode controller which can drive the movement tracking error to zero asymptotically. Numerical simulations are completed to show the effectiveness of the approach for a large parameter variations.

Paper Citation

in Harvard Style

Litim M., Allouche B., Omari A., Dequidt A. and Vermeiren L. (2014). Sliding Mode Control of Biglide Planar Parallel Manipulator . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 303-310. DOI: 10.5220/0005015403030310

in Bibtex Style

@conference{icinco14,
author={Mustapha Litim and Benyamine Allouche and Abdelhafid Omari and Antoine Dequidt and Laurent Vermeiren},
title={Sliding Mode Control of Biglide Planar Parallel Manipulator},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={303-310},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005015403030310},
isbn={978-989-758-040-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Sliding Mode Control of Biglide Planar Parallel Manipulator
SN - 978-989-758-040-6
AU - Litim M.
AU - Allouche B.
AU - Omari A.
AU - Dequidt A.
AU - Vermeiren L.
PY - 2014
SP - 303
EP - 310
DO - 10.5220/0005015403030310