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Authors: Mustapha Litim 1 ; Benyamine Allouche 2 ; Abdelhafid Omari 1 ; Antoine Dequidt 2 and Laurent Vermeiren 2

Affiliations: 1 USTO-MB University and USTO, Algeria ; 2 University of Valenciennes and Hainaut-Cambresis, France

ISBN: 978-989-758-040-6

Keyword(s): Parallel Manipulators, Nonlinear Control, Lyapunov Stability, Sliding Mode Control.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Mechatronics Systems ; Modeling, Analysis and Control of Hybrid Dynamical Systems ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: This work presents the control of a two-degree of freedom parallel manipulator using nonlinear sliding mode approach. The aim is to achieve a robust control for trajectory tracking. The control is based on the inverse dynamic model in the Cartesian space of the parallel manipulator. Kinematic analysis are also discussed. To guarantee the high performance on the tracking control. Biglide robot requires full knowledge on the system’s dynamics. In this paper, some important properties of the parallel manipulators are considered to develop a sliding mode controller which can drive the movement tracking error to zero asymptotically. Numerical simulations are completed to show the effectiveness of the approach for a large parameter variations.

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Paper citation in several formats:
Litim, M.; Allouche, B.; Omari, A.; Dequidt, A. and Vermeiren, L. (2014). Sliding Mode Control of Biglide Planar Parallel Manipulator.In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-040-6, pages 303-310. DOI: 10.5220/0005015403030310

@conference{icinco14,
author={Mustapha Litim. and Benyamine Allouche. and Abdelhafid Omari. and Antoine Dequidt. and Laurent Vermeiren.},
title={Sliding Mode Control of Biglide Planar Parallel Manipulator},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={303-310},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005015403030310},
isbn={978-989-758-040-6},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Sliding Mode Control of Biglide Planar Parallel Manipulator
SN - 978-989-758-040-6
AU - Litim, M.
AU - Allouche, B.
AU - Omari, A.
AU - Dequidt, A.
AU - Vermeiren, L.
PY - 2014
SP - 303
EP - 310
DO - 10.5220/0005015403030310

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