Cart (Loading....) | Create Account
Close category search window
 

Nonlinear PID control of a six-DOF parallel manipulator

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $31
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Su, Y.X. ; Sch. of Electro-Mech. Eng., Xidian Univ., Xi''an, China ; Duan, B.Y. ; Zheng, C.H.

A nonlinear proportional integral derivative (N-PID) algorithm in linkspace is proposed to realise high precision tracking control of a general six-DOF parallel manipulator. In practice, the performance of the controlled system is limited by how to pick out the differential signals of the noncontinuous measured signals with stochastic noise. Therefore, the developed N-PID controller uses two nonlinear tracking differentiators to yield high quality differential signals in the presence of disturbances and measurement noise. A nonlinear combination of proportional, integral and derivative action on the control error is used to synthesise the control law for enhanced performance in areas such as increased damping and reduced tracking error. Experimental results indicate that the nonlinear control method is easy for the engineer to implement and achieves a superior performance.

Published in:

Control Theory and Applications, IEE Proceedings -  (Volume:151 ,  Issue: 1 )

Date of Publication:

17 Jan. 2004

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.