Xue-Mei Niu, Guo-Qin Gao, Xin-Jun Liu and Zhi-Ming Fang. Bio-inspired Backstepping Adaptive Sliding Mode Control for Parallel Mechanism with Actuation Redundancy. International Journal of Automation and Computing, vol. 11, no. 5, pp. 555-564, 2014. DOI: 10.1007/s11633-014-0826-1
Citation: Xue-Mei Niu, Guo-Qin Gao, Xin-Jun Liu and Zhi-Ming Fang. Bio-inspired Backstepping Adaptive Sliding Mode Control for Parallel Mechanism with Actuation Redundancy. International Journal of Automation and Computing, vol. 11, no. 5, pp. 555-564, 2014. DOI: 10.1007/s11633-014-0826-1

Bio-inspired Backstepping Adaptive Sliding Mode Control for Parallel Mechanism with Actuation Redundancy

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This work was supported by National Natural Science Foundation of China (No. 51375210), Priority Academic Program Development of Jiangsu Higher Education Institutions (No. 6, 2011), Postgraduate Research and Innovation Program of Jiangsu Higher Education Institutions (No.CXLX11-0598), Jiangsu University Senior Professionals Scientific Research Foundation (No. 13JDG047).

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  • Received Date: June 23, 2013
  • Revised Date: April 20, 2014
  • This paper presents a bio-inspired backstepping adaptive sliding mode control strategy for a novel 3 degree of freedom (3-DOF) parallel mechanism with actuation redundancy. Based on the kinematic model and the dynamic model, a sliding mode controller is designed to assure the tracking performance, and an adaptive law is introduced to approximate the system uncertainty including parameters variation, external disturbances and un-modeled part. Furthermore, a bio-inspired model is introduced to solve the inherent chattering problem of sliding mode control and provide a chattering free control. The simulation and experimental results testify that the proposed bio-inspired backstepping adaptive sliding mode control can achieve better performance (the tracking accuracy, robustness, response speed, etc.) than the conventional slide mode control.
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