Abstract
Sliding mode control (SMC) incorporated with perturbation compensation is developed here to reduce the low-frequency tracking error in the presence of wide-band frequency perturbations for a nonlinear dynamic system. The control scheme is then applied to the motion control of a two-degree-of-freedom (DOF) parallel manipulator, utilizing its reduced dynamics for real-time implementation. It is shown that the SMC with perturbation compensation is far superior to the conventional SMC in tracking control of the manipulator under large payload and external disturbance conditions.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
