Posture control of 3-DOF parallel manipulator using feedback linearization and model reference adaptive control

Author

Alinia, Sahar ; Hemmatian, Masoud ; Wen Fang Xie ; Rui Zeng

Author_Institution

Dept. of Mech. & Ind. Eng., Concordia Univ., Montreal, QC, Canada

fYear

2015

fDate

3-6 May 2015

Firstpage

1145

Lastpage

1150

Abstract

This paper is focused on the posture control of a 3 degree of freedom (3DOF) parallel manipulator driven by pneumatic muscles (PMDPM). The feedback linearization control and model reference adaptive control are developed to control the posture of the moving platform by changing the pressure inside the pneumatic muscles. The performances of the controllers to track step and sinusoidal reference inputs and their robustness against noise and sudden disturbances are demonstrated in the simulation results.

Keywords

feedback; linearisation techniques; manipulator dynamics; manipulator kinematics; model reference adaptive control systems; motion control; robust control; 3-DOF parallel manipulator; 3-degree-of-freedom parallel manipulator; PMDPM; feedback linearization; feedback linearization control; model reference adaptive control; moving platform; noise disturbances; pneumatic muscles; posture control; robustness; sinusoidal reference input tracking; step input tracking; Adaptation models; Adaptive control; Manipulator dynamics; Muscles; Noise; Robustness;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Computer Engineering (CCECE), 2015 IEEE 28th Canadian Conference on

Conference_Location

Halifax, NS

ISSN

0840-7789

Print_ISBN

978-1-4799-5827-6

Type

conf

DOI

10.1109/CCECE.2015.7129436

Filename

7129436