Approximate Feedback Linearization Control for Spatial 6-DOF Hydraulic Parallel Manipulator
Chifu Yang*, 1, 2, Shutao Zheng2, O. Ogbobe Peter2, Qitao Huang2, Junwei Han2
Identifiers and Pagination:Year: 2011
First Page: 117
Last Page: 123
Publisher Id: TOMEJ-5-117
Article History:Received Date: 26/11/2010
Revision Received Date: 16/2/2011
Acceptance Date: 21/2/2011
Electronic publication date: 20/5/2011
Collection year: 2010
open-access license: This is an open access article distributed under the terms of the Creative Commons Attribution 4.0 International Public License (CC-BY 4.0), a copy of which is available at: (https://creativecommons.org/licenses/by/4.0/legalcode). This license permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
Traditional feedback linearization approach (TFL) requires a priori knowledge of plant, which is difficult and the computational efficiency of controller is low due to the complex dynamics of spatial 6-DOF hydraulic parallel manipulator. In order to improve the tracking performance of spatial 6-DOF hydraulic parallel manipulator and to conquer the drawbacks of TFL, a novel approximate feedback linearization approach, non-model based method, is proposed in this paper. The mathematical model of spatial hydraulic parallel manipulator is established. The approximate feedback linearization control is designed for the parallel manipulator in joint space, with position and stored force in the previous time step are employed, as a learning tool to yield improved performance. Under Lyapunov theorems, the stability of the presented algorithm is confirmed in the presence of uncertainties. Simulation results show the proposed control is easy and effective to realize path tracking, and it exhibits excellent performance and high efficiency without a precision dynamics of plant. Furthermore, the presented algorithm is well suitable for most industrial applications.