English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

The focus of this work is on a robust tracking control design for a 6 DOF parallel Ž . manipulator in the presence of nonlinearity and fast or slowly time-varying uncertainty. Two types of controllers are presented. The controls are based on the Lyapunov approach and guarantee a practical stability. The controls utilize the information of link displacements and its velocities. The first control scheme uses the quadratic Lyapunov function and other uses the geometry dependent Lyapunov function, which excludes the inverse matrix computation on the inertia matrix. Also, the hydraulic dynamics is considered in the control design and control performance. The control performances of the proposed algorithms are verified by simulations and experiments.

Robust tracking control design for a 6 DOF parallel manipulator