Decoupling control for parallel robot based on equivalent-input-disturbance approach

This paper discusses the problem of posture control for a parallel robot. The parallel robot features multiple variables and large nonlinearities. The control accuracy is strongly affected by the parameters which are coupled with each other, and by exogenous disturbances. A decoupling control strategy is presented based on the equivalent-input-disturbance (EID) approach to improve control performance. First, decoupling control is used to eliminate the main coupling effect between multiple variables. Then, the EID method is used to further improve decoupling effect and suppress the external disturbances. Simulation results show that the control strategy is effective for the decoupling control of parallel robot.