A linear output feedback controller for a 2-DOF parallel robot

Author

Lu, Zongtao ; Liu, Xiaoping

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., Case Western Reserve Univ., Cleveland, OH

fYear

2008

fDate

11-13 June 2008

Firstpage

207

Lastpage

211

Abstract

This paper studies the problem of output feedback control for a 2-DOF parallel robot. The dynamics of the parallel robots are characterized a set of ordinary differential equations(ODEs). Under the condition of bounded joint velocities, a linear output dynamic compensator is designed to guarantee the semi-global exponential stability of the closed- loop system. The bound of velocity can be made arbitrarily large by appropriately tuning the observer gain, which leads to semi-global stability. Simulation results are given to illustrate the proposed output feedback controller.

Keywords

asymptotic stability; closed loop systems; control system synthesis; differential equations; feedback; robot dynamics; 2-DOF Parallel Robot; bounded joint velocities; closed- loop system; exponential stability; linear output dynamic compensator; linear output feedback controller; ordinary differential equations; parallel robots dynamics; Actuators; Linear feedback control systems; Mechanical variables control; Output feedback; PD control; Parallel robots; Pi control; Proportional control; Robot kinematics; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2008

Conference_Location

Seattle, WA

ISSN

0743-1619

Print_ISBN

978-1-4244-2078-0

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2008.4586492

Filename

4586492