Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot
Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot
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Cairo, Egypt: Hindawi Publishing Corporation
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Language
English
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Publisher
Cairo, Egypt: Hindawi Publishing Corporation
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This work presents the design of two control schemes for a Delta/Par4-like parallel robot: augmented PD (APD) controller and augmented nonlinear PD (ANPD) controller. The stability of parallel robot based on nonlinear PD controller has been analyzed and proved based on Lyapunov method. A comparison study between APD and ANPD controllers has been ma...
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Full title
Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot
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TN_cdi_doaj_primary_oai_doaj_org_article_a9c8c501a2a34568b02bc0696ca23d24
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https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_doaj_primary_oai_doaj_org_article_a9c8c501a2a34568b02bc0696ca23d24
Other Identifiers
ISSN
1687-5249
E-ISSN
1687-5257
DOI
10.1155/2019/7689673
