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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

  • DOI - Digital Object Identifier

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

  • Czech description

Classification

  • Type

    O - Miscellaneous

  • CEP classification

    JR - Other machinery industry

  • OECD FORD branch

Result continuities

  • Project

  • 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