Robust Sliding Mode Control of Redundantly Actuated Parallel Mechanisms with Bounded Model Uncertainties
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F15%3A00236425" target="_blank" >RIV/68407700:21220/15:00236425 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Robust Sliding Mode Control of Redundantly Actuated Parallel Mechanisms with Bounded Model Uncertainties
Original language description
The paper deals with control and modelling of redundantly actuated parallel mechanisms with model imperfections. The redundant actuation means the redundant number of actuators, that is, more actuators than degrees of freedom of the mechanism. Control of such structures suffers from several advanced control problems like danger of mutual fighting of redundant actuators. The presented solution is based on the usage of robust sliding mode control for uncertain dynamics.
Czech name
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Czech description
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Classification
Type
O - Miscellaneous
CEP classification
JR - Other machinery industry
OECD FORD branch
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Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů