Nonlinear Adaptive Control Approach for Parallel Manipulator Based on Lyapunov Method

Nonlinear Adaptive Control Approach for Parallel Manipulator Based on Lyapunov Method

A new nonlinear adaptive control approach is proposed for the redundantly actuated parallel manipulators. In comparison with the existing adaptive control schemes, the parameterization expression of the model parameters is not needed in the proposed approach according to the properties of the parame...

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Bibliographic Details
Main Authors: Yimei Chen, Qiang Zhang, Chunbo Xiu
Format: Article
Language:English
Published: IFSA Publishing, S.L. 2014-03-01
Series:Sensors & Transducers
Subjects:
Adaptive control
Nonlinear control
Parallel robot
Lyapunov function
Globally stable.
Online Access:http://www.sensorsportal.com/HTML/DIGEST/march_2014/Vol_166/P_1933.pdf

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