Title: Adaptive control of a parallel robot via backstepping technique

Authors: Li Wang, Zongtao Lu, Xiaoping Liu, Kefu Liu, Dan Zhang

Addresses: Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, Ontario, N2L 3G1, Canada. ' Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, Ohio, 44106, USA. ' Department of Electrical Engineering, Lakehead University, Thunder Bay, Ontario, P7B 5E1, Canada. ' Department of Mechanical Engineering, Lakehead University, Thunder Bay, Ontario, P7B 5E1, Canada. ' Faculty of Engineering and Applied Science, University of Ontario Institute of Technology, Oshawa, Ontario, L1H 7K4, Canada

Abstract: The adaptive backstepping technique is applied to set point control of a planar parallel robot. The dynamic model of the robot is characterised by a set of differential algebraic equations. The model is reduced into a set of Ordinary Differential Equations (ODEs). A model-based adaptive backstepping controller is designed. The proposed controller is tested by experiments. Comparison among the adaptive backstepping controller, backstepping controller, adaptive PD controller and PD controller is made based on experimental results. Experimental results show that the adaptive backstepping controller outperforms all the other controllers in terms of steady-state errors.

Keywords: parallel robots; adaptive backstepping; nonlinear control; DAE; differential algebraic equations; robot control; adaptive control; dynamic modelling; model-based control; PD control.

DOI: 10.1504/IJSCC.2009.024558

International Journal of Systems, Control and Communications, 2009 Vol.1 No.3, pp.312 - 324

Published online: 09 Apr 2009 *

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